Posts made by wayneosdias

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@dc42
SPI success! Before unwinding everything, I took another look at the git repo and spotted LISAccelerometer.cpp had been updated after my other file update. I updated that file and everything compiles for LIS3D on SPI.

Ill mark this question as solved once I confirm HW function. I have the chip carrier for the SAME5 on order but probably won't rec for a couple weeks. I may just order the PCB regardless as I need the machine back up and running and the accelerometer no critical for its fxn.

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@wayneosdias
Unwinding my SPI and I2C changes I see a change that I didn't make that I should have:

//**REMAPP**//#  define ACCELEROMETER_USES_SPI			(0)				// accelerometer is connected via SPI
/**REMAPPED**/#  define ACCELEROMETER_USES_SPI			(1)				// accelerometer is connected via SPI

I tried that but still errors. I still plan to unwind everything and go back to I2C

undefined

@dc42
Hi David, I didn't change the #define SUPPORT_SPI_SENSORS 1, but I did change quite a bit of the file. For the sake of completeness I attached my full config file. I've tried being very explicit of my flagging changes by prefacing changes, eg;

//**REMAPP**//constexpr size_t MaxPortsPerHeater = 1;     
/**REMAPPED**/constexpr size_t MaxPortsPerHeater = 0;

I don't expect you to comb thru my full config, but if you do take a look and see anything off it'd be great if you let me know

Meantime Ill revert the LIS3DH back to I2. I only made that change as I prefer SPI to I2C. But if SPI is causing probs and hasnt been tested then Ill go back I2C.

Thanks again

EXP1HCL.h

undefined

@dc42 I updated the LISAccelerometer.cpp and now getting the following errors:

undefined

Im reconfiguring 1HCL 3.5FW for a custom board. I want to use the LIS3D on the SPI PA(15-19) of SAME5x , no other peripherals on the SPI bus. Heres part of my .h config;

#define SUPPORT_SPI_SENSORS		1
//**REMAPP**//# define SUPPORT_I2C_SENSORS	1
/**REMAPPED**/# define SUPPORT_I2C_SENSORS	0
# define SUPPORT_LIS3DH

#if SUPPORT_LIS3DH	
#  define ACCELEROMETER_USES_SPI			(1) // accelerometer is connected via SPI
constexpr Pin Lis3dhCsPin = PortAPin(18);		     // same as encoder CS pin
constexpr Pin Lis3dhInt1Pin = PortAPin(12);		    // same as io1.in

# endif

// Shared SPI (used for interface to encoders, not for temperature sensors)
constexpr uint8_t SspiSercomNumber = 1;
constexpr uint32_t SspiDataInPad = 3;
constexpr Pin SSPIMosiPin = PortAPin(16);
constexpr GpioPinFunction SSPIMosiPinPeriphMode = GpioPinFunction::C;

constexpr Pin SSPISclkPin = PortAPin(17);
constexpr GpioPinFunction SSPISclkPinPeriphMode = GpioPinFunction::C;

constexpr Pin SSPIMisoPin = PortAPin(19);
constexpr GpioPinFunction SSPIMisoPinPeriphMode = GpioPinFunction::C;

Im getting a bunch of errors

Any help on clearing this up? Thanks!

undefined

@dc42 understood, thanks

undefined

@dc42 @jay_s_uk
Thank you and understood re EXINT.

Is there any considerations for reassigning the '.ate' pins?

Lastly, I thought I read somewhere the io0.in/out UART wasn't available on the Expansion boards yet. I see in 3.5 1HCL

// PB02 IO0 out, UART available
// PB03 IO0 in, UART available

and the io looks to be wired to sercom5d. Is the Duet Aux UART available on the expansion board?

Thanks for the help

undefined

I'm creating a custom board based off the 1HCL and remapping some of the io.
In the PinTable what is the 'Exint'? Im guessing the IRQ priority?

	TC			TCC			ADC			SERCOM in		SERCOM out	       Exint     PinName
	// Port A
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		0,	"spi.cs1"

Also what is 'ate.'? Im unfamiliar with this prefix.

"ate.v12"		},	// PA06 12v monitor

Thanks for any help

undefined

Updating my previous toolchain from 10.1 to 13.2 fixed the problem and is compiling,
Thanks Guys

undefined

Trying and failing to compile unmodified 3.5 EXP3HC fw per https://github.com/Duet3D/Duet3Expansion

c:/program files (x86)/gnu arm embedded toolchain/10 2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld.exe: unrecognized option '--no-warn-rwx-segment'
c:/program files (x86)/gnu arm embedded toolchain/10 2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld.exe: use the --help option for usage information
collect2.exe: error: ld returned 1 exit status
make[1]: *** [makefile:96: Duet3Firmware_EXP3HC.elf] Error 1
make: *** [makefile:81: all] Error 2
"make -j12 all" terminated with exit code 2. Build might be incomplete.

16:41:52 Build Failed. 4 errors, 0 warnings. (took 9s.61ms)

Thank you for any help

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@dc42
Thanks David, 3.6 beta works, 3.5.3 doesn't. M260.2 only works on beta FW?

undefined

Im trying to send a hex values. Using rrf3.5.3

M575 P1 B57600 S7 ; AUX Serial port Ive tried S0-7

And the following M118 commands

M118 P2 S{0xE0}

Yeilds

And

M118 P2 S"0xE0"

Yeilds

Anyway to send a serial string of hex values that is not LF appended?

Thanks for any help

undefined

@dc42
I haven't connected any drivers yet, just probing via logic analyzer on the bench. The first HW pass will be using the Mini2+. Changing the SINGLE_DRIVER to 0 has got me the step pulses I'm after. Both Drives step io pulsing.

Problem now is I had to disable TMC22xx support to actually compile. I assume I lose the ability to set the Mini2+ TMC2209 motor parameters, most importantly the current setting?

Heres just a couple of the 100's of errors I had with #define SUPPORT_TMC22xx 1

   31 | #if TMC22xx_VARIABLE_NUM_DRIVERS

      |     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~

 

In file included from ../src/Movement/StepperDrivers/TMC22xx.cpp:8:

../src/Movement/StepperDrivers/TMC22xx.h:31:5: warning: "TMC22xx_VARIABLE_NUM_DRIVERS" is not defined, evaluates to 0 [-Wundef]

   31 | #if TMC22xx_VARIABLE_NUM_DRIVERS

      |     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~

../src/Movement/StepperDrivers/TMC22xx.cpp:13:3: error: #error TMC22xx_HAS_ENABLE_PINS not defined

   13 | # error TMC22xx_HAS_ENABLE_PINS not defined

      |   ^~~~~

../src/Movement/StepperDrivers/TMC22xx.cpp:17:3: error: #error TMC22xx_SINGLE_DRIVER not defined

   17 | # error TMC22xx_SINGLE_DRIVER not defined

      |   ^~~~~

../src/Movement/StepperDrivers/TMC22xx.cpp:21:3: error: #error TMC22xx_HAS_MUX not defined

   21 | # error TMC22xx_HAS_MUX not defined

      |   ^~~~~

../src/Movement/StepperDrivers/TMC22xx.cpp:25:3: error: #error TMC22xx_VARIABLE_NUM_DRIVERS not defined

   25 | # error TMC22xx_VARIABLE_NUM_DRIVERS not defined

      |   ^~~~~

../src/Movement/StepperDrivers/TMC22xx.cpp:29:3: error: #error TMC22xx_USE_SLAVEADDR not defined

   29 | # error TMC22xx_USE_SLAVEADDR not defined

      |   ^~~~~

Heres the latest SAMMYC21.h

/*
 * 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
#define USE_SERIAL_DEBUG		1

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

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

constexpr size_t NumDrivers = 2;

// #define USE_CCL		0			// USE_CCL also requires DIFFERENTIAL_STEPPER_OUTPUTS

// #if USE_CCL

// PortGroup * const StepPio = &(PORT->Group[1]);		// the PIO that all the step pins are on
// constexpr Pin EnablePins[NumDrivers] = { PortAPin(9) };
// constexpr Pin StepPins[NumDrivers] = { PortBPin(10) };
// constexpr Pin InvertedStepPins[NumDrivers] = { PortAPin(11) };
// constexpr Pin DirectionPins[NumDrivers] = { PortAPin(10) };

// // The SAMC21 can sink more current than it can source, therefore we use active low signals to drive external drivers
// #define ACTIVE_HIGH_STEP		1		// 1 = active high, 0 = active low
// #define ACTIVE_HIGH_DIR			0		// 1 = active high, 0 = active low
// #define ACTIVE_HIGH_ENABLE		0		// 1 = active high, 0 = active low

// #else

PortGroup * const StepPio = &(PORT->Group[0]);		// the PIO that all the step pins are on
constexpr Pin EnablePins[NumDrivers] = { PortAPin(9), PortAPin(8) };
constexpr Pin StepPins[NumDrivers] = { PortAPin(11),PortAPin(6) };
constexpr Pin DirectionPins[NumDrivers] = { PortAPin(10), PortAPin(7) };

// PortGroup * const StepPio = &(PORT->Group[0]);		// the PIO that all the step pins are on
// constexpr Pin StepPins[NumDrivers] = { PortAPin(9), PortAPin(6) };
// constexpr Pin DirectionPins[NumDrivers] = { PortAPin(11), PortAPin(8) };
// constexpr Pin DriverDiagPins[NumDrivers] = { PortAPin(10), PortAPin(7) };

// The SAMC21 can sink more current than it can source, therefore we use active low signals to drive external drivers
#define ACTIVE_HIGH_STEP		0		// 1 = active high, 0 = active low
#define ACTIVE_HIGH_DIR			0		// 1 = active high, 0 = active low
#define ACTIVE_HIGH_ENABLE		0		// 1 = active high, 0 = active low

// #endif

#define SUPPORT_THERMISTORS		1
#define SUPPORT_SPI_SENSORS		1
#define SUPPORT_I2C_SENSORS		1
#define SUPPORT_LIS3DH			1
#define SUPPORT_LDC1612			1
#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 I2CSDAPinPeriphMode = GpioPinFunction::C;
constexpr Pin I2CSCLPin = PortAPin(23);
constexpr GpioPinFunction I2CSCLPinPeriphMode = GpioPinFunction::C;
#define I2C_HANDLER		SERCOM3_Handler

#endif

#if SUPPORT_LIS3DH
# define ACCELEROMETER_USES_SPI			(0)					// 0 if the accelerometer is connected via I2C, 1 if via SPI
constexpr Pin Lis3dhInt1Pin = PortAPin(13);
#endif

#if SUPPORT_LDC1612
constexpr uint16_t LDC1612_I2CAddress = 0x2B;				// pin 4 is tied high on the Grove board
constexpr Pin LDC1612InterruptPin = PortAPin(21);
#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 thermistor
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_1,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"temp1"		},	// PA03 thermistor
	{ 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,	nullptr		},	// PA06 driver STEP // PA06
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_7,	AdcInput::none,		SercomIo::none,		SercomIo::none,		7,	nullptr		},	// PA07 driver DIR// PA07
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_8,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA08 driver EN // PA08
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_9,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA09 driver EN
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA10 driver DIR
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA11 driver 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
#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,	"pa20"		},	// PA20
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"pa21"		},	// PA21 LDC1612 INT
#if SUPPORT_I2C_SENSORS
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA22 I2C
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA23 I2C
#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

	// Virtual pins
#if SUPPORT_LIS3DH
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,	Nx,	"i2c.lis3dh"		},	// LIS3DH sensor connected via I2C
#endif
#if SUPPORT_LDC1612
	{ TcOutput::none,	TccOutput::none,	AdcInput::ldc1612,	AdcInput::none,		SercomIo::none,		SercomIo::none,	Nx,	"i2c.ldc1612"		},	// LDC1612 sensor connected via I2C
#endif
};

constexpr size_t NumPins = ARRAY_SIZE(PinTable);
constexpr size_t NumRealPins = 32 + 10;			// 32 pins on port A (some missing), only PB08 and PB09 are brought out on this board
constexpr size_t NumVirtualPins = SUPPORT_LIS3DH + SUPPORT_LDC1612;

static_assert(NumPins == NumRealPins + NumVirtualPins);

// 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 = SERCOM5_IRQn;

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

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

// DMA priorities, higher is better. 0 to 3 are available.
constexpr DmaPriority DmacPrioTmcTx = 0;
constexpr DmaPriority DmacPrioTmcRx = 3;
constexpr DmaPriority DmacPrioAdcRx = 2;

// Interrupt priorities, lower means higher priority. 0 can't make RTOS calls. Only 0 to 3 are available.
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 NvicPriorityI2C = 2;
const NvicPriority NvicPriorityCan = 3;
const NvicPriority NvicPriorityDmac = 3;				// priority for DMA complete interrupts

#endif /* SRC_CONFIG_SAMMYC21_H_ */

Can you help me get the TMC2209_support back?

Thanks for help guys

undefined

My end goal is to leverage a single SAMMYC21 for x2 low current motor drivers and x2 analog inputs. These will be used to control two nozzle rotational axis and two pressure sensors on a pick and place head. This will replace the x2 Duet 1Tool boards I'm currently using for a more compact design.

Im currently trying to get the dual drivers working. So far Ive only modified the SAMMYC21.h

/*
 * 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
#define USE_SERIAL_DEBUG		1

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

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

constexpr size_t NumDrivers = 2;

// #define USE_CCL		0			// USE_CCL also requires DIFFERENTIAL_STEPPER_OUTPUTS

// #if USE_CCL

// PortGroup * const StepPio = &(PORT->Group[1]);		// the PIO that all the step pins are on
// constexpr Pin EnablePins[NumDrivers] = { PortAPin(9) };
// constexpr Pin StepPins[NumDrivers] = { PortBPin(10) };
// constexpr Pin InvertedStepPins[NumDrivers] = { PortAPin(11) };
// constexpr Pin DirectionPins[NumDrivers] = { PortAPin(10) };

// // The SAMC21 can sink more current than it can source, therefore we use active low signals to drive external drivers
// #define ACTIVE_HIGH_STEP		1		// 1 = active high, 0 = active low
// #define ACTIVE_HIGH_DIR			0		// 1 = active high, 0 = active low
// #define ACTIVE_HIGH_ENABLE		0		// 1 = active high, 0 = active low

// #else

PortGroup * const StepPio = &(PORT->Group[0]);		// the PIO that all the step pins are on
constexpr Pin EnablePins[NumDrivers] = { PortAPin(9), PortAPin(8) };
constexpr Pin StepPins[NumDrivers] = { PortAPin(11),PortAPin(6) };
constexpr Pin DirectionPins[NumDrivers] = { PortAPin(10), PortAPin(7) };

// PortGroup * const StepPio = &(PORT->Group[0]);		// the PIO that all the step pins are on
// constexpr Pin StepPins[NumDrivers] = { PortAPin(9), PortAPin(6) };
// constexpr Pin DirectionPins[NumDrivers] = { PortAPin(11), PortAPin(8) };
// constexpr Pin DriverDiagPins[NumDrivers] = { PortAPin(10), PortAPin(7) };

// The SAMC21 can sink more current than it can source, therefore we use active low signals to drive external drivers
#define ACTIVE_HIGH_STEP		0		// 1 = active high, 0 = active low
#define ACTIVE_HIGH_DIR			0		// 1 = active high, 0 = active low
#define ACTIVE_HIGH_ENABLE		0		// 1 = active high, 0 = active low

// #endif

#define SUPPORT_THERMISTORS		1
#define SUPPORT_SPI_SENSORS		1
#define SUPPORT_I2C_SENSORS		1
#define SUPPORT_LIS3DH			1
#define SUPPORT_LDC1612			1
#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 I2CSDAPinPeriphMode = GpioPinFunction::C;
constexpr Pin I2CSCLPin = PortAPin(23);
constexpr GpioPinFunction I2CSCLPinPeriphMode = GpioPinFunction::C;
#define I2C_HANDLER		SERCOM3_Handler

#endif

#if SUPPORT_LIS3DH
# define ACCELEROMETER_USES_SPI			(0)					// 0 if the accelerometer is connected via I2C, 1 if via SPI
constexpr Pin Lis3dhInt1Pin = PortAPin(13);
#endif

#if SUPPORT_LDC1612
constexpr uint16_t LDC1612_I2CAddress = 0x2B;				// pin 4 is tied high on the Grove board
constexpr Pin LDC1612InterruptPin = PortAPin(21);
#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 thermistor
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_1,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"temp1"		},	// PA03 thermistor
	{ 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,	nullptr		},	// PA06 driver STEP // PA06
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_7,	AdcInput::none,		SercomIo::none,		SercomIo::none,		7,	nullptr		},	// PA07 driver DIR// PA07
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_8,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA08 driver EN // PA08
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_9,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA09 driver EN
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA10 driver DIR
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA11 driver 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
#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,	"pa20"		},	// PA20
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"pa21"		},	// PA21 LDC1612 INT
#if SUPPORT_I2C_SENSORS
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA22 I2C
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA23 I2C
#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

	// Virtual pins
#if SUPPORT_LIS3DH
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,	Nx,	"i2c.lis3dh"		},	// LIS3DH sensor connected via I2C
#endif
#if SUPPORT_LDC1612
	{ TcOutput::none,	TccOutput::none,	AdcInput::ldc1612,	AdcInput::none,		SercomIo::none,		SercomIo::none,	Nx,	"i2c.ldc1612"		},	// LDC1612 sensor connected via I2C
#endif
};

constexpr size_t NumPins = ARRAY_SIZE(PinTable);
constexpr size_t NumRealPins = 32 + 10;			// 32 pins on port A (some missing), only PB08 and PB09 are brought out on this board
constexpr size_t NumVirtualPins = SUPPORT_LIS3DH + SUPPORT_LDC1612;

static_assert(NumPins == NumRealPins + NumVirtualPins);

// 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 = SERCOM5_IRQn;

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

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

// DMA priorities, higher is better. 0 to 3 are available.
constexpr DmaPriority DmacPrioTmcTx = 0;
constexpr DmaPriority DmacPrioTmcRx = 3;
constexpr DmaPriority DmacPrioAdcRx = 2;

// Interrupt priorities, lower means higher priority. 0 can't make RTOS calls. Only 0 to 3 are available.
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 NvicPriorityI2C = 2;
const NvicPriority NvicPriorityCan = 3;
const NvicPriority NvicPriorityDmac = 3;				// priority for DMA complete interrupts

#endif /* SRC_CONFIG_SAMMYC21_H_ */

Having done that and nothing else, DWC shows x2 drivers for the SAMMYC21

That all seems good, but when I attempt to actually drive the new 1 Drive there is not step activity. The 0 Drive pulses the step as expected.

Is there any other modifications to make to the SAMMYC21. h file or any other file in the project?

Thanks for any input

undefined

@droftarts I'm not in a position to to check HW versions, but the bootloaders are indeed different, 2.8 vs 2.3. The first LC I got the beginning of the year and the 2nd this past week. Both LC are the same layout, but different versions as I recall the new LC mounting thru holes are enig plated and the older LC mounting thru holes are silk screen. Heres the M122 for both;

M122 B20
Diagnostics for board 20:
Duet TOOL1LC rev 1.1 or later firmware version 3.5.3 (2024-09-17 14:35:31)
Bootloader ID: SAMC21 bootloader version 2.3 (2021-01-26b1

M122 B21
Diagnostics for board 21:
Duet TOOL1LC rev 1.1 or later firmware version 3.5.3 (2024-09-17 14:35:31)
Bootloader ID: SAMC21 bootloader version 2.8 (2023-07-25)

undefined

@oliof M952 has always worked perfectly, but you need the correct 'B'.

@dc42 Ive tried the sequence many more times and I still cannot force a HW reset of the LC ID, CAN disconnected or connected. I can indeed perform HW ID resets on the XDs and HCs, but not the LC as outlined. Im running 3.5.3 system wide.

I never thought to look at the Obj Model for boards, perfect!

Thanks for the input guys.

undefined

Short story; below doesn't seem to work for resetting 1LC CAN address;
The board will do a factory reset if you power it up with both buttons held down. The CAN address will be reset to the default (121), the CAN bus timing will also be reset to default (1Mbps), and the bootloader will request a firmware update.

Long story;
I'm running x3 XDs, x2 LCs, x1 SammyC with a 6HC mobo. The Duet/CAN system has been working really well, but I noticed the LC reset fxn wasn't working. When adding a new LC, I isolated the CAN from the 6HC to new 1LC to update the LC FW from 3.5.1 to 3.5.3. FW update went fine, but I found the new LC wouldn't respond to the new address B21 I assigned it (40s for the XDs, 50s for the HCs and 20s for the LCs). Despite that, CAN between the 6HC and LC was still active, with red LED syncd between the two. I assumed I screwed up the re assignment and attempted to HW reset via holding the 1LCs btns while powering on. I tried this several times and the 1LC Id never reverted back to the default B121. It kept whatever Id I miss programmed and contd to sync w the 6HC.

I started iterating thru IDs to try and find it when I remembered I may have accidently ID'd it as one of the 1HCLs I removed. Sure enough it was ID'd as 51. I fixed the issue and everything is running fine. After that I attempted to test the reset the either of the LC IDs via the btn press at power up and it doesnt seem to reset the address...

undefined

@droftarts Understood, thanks again, prevented me from wasting a day chasing my tail

undefined

@droftarts Thanks for the help, Any ideas when it may be up and going?

undefined

@droftarts I uploaded the file at your link and reboot everything, autotune still not there.