Problem with 6 axes

[macbef]

Hi,
I just made a custom board with a STM32F103RC controller. I was able to compile and flash the binary (using platformIO).
All 6 axes are displayed in IoSender.

Unfortunately only axis 1-4 are moving, B and C are not responding to any command (like Jog-commands).

This is what I get when starting up:

GrblHAL 1.1f ['$' or '$HELP' for help] [VER:1.1f.20221115:] [OPT:VNMSL,35,512,6,0] [AXS:6:XYZABC] [NEWOPT:ENUMS,RT+,TC,SED] [FIRMWARE:grblHAL] [NVS STORAGE:*FLASH]

I adapted the port mapping according to the way the controller is connected and made sure none of the pins are declared twice.

( I have '-D BOARD_MY_MACHINE=' and '-D N_AXIS=6' in my INI-file)

// Define step pulse output pins.
#define STEP_PORT               GPIOA
#define X_STEP_PIN              0
#define Y_STEP_PIN              2
#define Z_STEP_PIN              4
#define STEP_OUTMODE            GPIO_MAP

// Define step direction output pins.
#define DIRECTION_PORT          GPIOA
#define X_DIRECTION_PIN         1
#define Y_DIRECTION_PIN         3
#define Z_DIRECTION_PIN         5
#define DIRECTION_OUTMODE       GPIO_MAP

// Define stepper driver enable/disable output pin.
#define STEPPERS_ENABLE_PORT    GPIOB
#define STEPPERS_ENABLE_PIN     9

// Define homing/hard limit switch input pins.
#define LIMIT_PORT              GPIOB
#define X_LIMIT_PIN             10
#define Y_LIMIT_PIN             11
#define Z_LIMIT_PIN             12
#define LIMIT_INMODE            GPIO_SHIFT10

// Define ganged axis or A axis step pulse and step direction output pins.
#if N_ABC_MOTORS > 0
#define M3_AVAILABLE
#define M3_STEP_PORT            STEP_PORT
#define M3_STEP_PIN             6
#define M3_DIRECTION_PORT       DIRECTION_PORT
#define M3_DIRECTION_PIN        7
#define M3_LIMIT_PORT           GPIOB
#define M3_LIMIT_PIN            15 //PB15
#endif

// Define ganged axis or B axis step pulse and step direction output pins.
#if N_ABC_MOTORS > 1
#define M4_AVAILABLE
#define M4_STEP_PORT            GPIOB
#define M4_STEP_PIN             5
#define M4_DIRECTION_PORT       GPIOB
#define M4_DIRECTION_PIN        6
#define M4_LIMIT_PORT           GPIOB
#define M4_LIMIT_PIN            8 //PB8
#endif

// Define ganged axis or B axis step pulse and step direction output pins.
#if N_ABC_MOTORS == 3
#define M5_AVAILABLE
#define M5_STEP_PORT            GPIOC
#define M5_STEP_PIN             0
#define M5_DIRECTION_PORT       GPIOC
#define M5_DIRECTION_PIN        1
#define M5_LIMIT_PORT           GPIOC
#define M5_LIMIT_PIN            2 
#endif

What am I missing? Is there anything else to configure?

[macbef]

I guess it has something to do with the STEP_OUTMODE, as all moving axes are on GPIOA. But

#define STEP_OUTMODE GPIO_BITBAND

doesn't fix the problem...

[terjeio]

The STEP_OUTMODE fix should make B moving, but not C as driver.c only supports up to 5 axes (and no ganged/auto squared axes). The RC variant has enough memory to support all of this so I guess driver.c should be updated. I can add C axis support quickly if you can do the testing.

[macbef]

I'd love to do the testing. And if you like I can send a prototype board to you.

[terjeio]

I have just committed an update for you to test.
A prototype 6-axis board would be nice to have for testing as I do not have any - so thank you for that offer.
My address is:

Terje Io
Ievegen 120
N-5917 Rossland
Norway

[macbef]

Oh yeah! All 6 axes are working. Thank you so much!

Only IoSender doesn't like this configuration... but that's not important.

[terjeio]

Boards has arrived, thank you!

Do you have complete board maps for both?
And do you plan to make the boards available, either pre-built or just the design?
If so the board maps should be added to the driver?

[macbef]

Sorry, I was on vacation last week... Had to check out the snow in the Piemont area :)

I'm not sure anyone needs this board except for me. I just wanted to have a clean solution for external drivers only. I don't really like these plug-in and "driver-on-logic-boards" PCBs.

This is the map-file for the STM32F103RC board (SVM 6-axes). Not fully tested yet but 6 axes are working fine.
I derived this from the examples. Of course it would be cool if this board would be included in the driver.

/*
  my_machine_map.h - driver code for STM32F103RC ARM processors

  Part of grblHAL

  Grbl is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.

  Grbl is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
*/

#if EEPROM_ENABLE
#error EEPROM plugin not supported!
#endif

#define BOARD_NAME "SVM 6-axes"


#define SAFETY_DOOR_ENABLE 1

// Define step pulse output pins.
#define STEP_PORT               GPIOA
#define X_STEP_PIN              0
#define Y_STEP_PIN              2
#define Z_STEP_PIN              4
#define STEP_OUTMODE            GPIO_BITBAND

// Define step direction output pins.
#define DIRECTION_PORT          GPIOA
#define X_DIRECTION_PIN         1
#define Y_DIRECTION_PIN         3
#define Z_DIRECTION_PIN         5
#define DIRECTION_OUTMODE       GPIO_BITBAND

// Define stepper driver enable/disable output pin.
#define STEPPERS_ENABLE_PORT    GPIOB
#define STEPPERS_ENABLE_PIN     9

// Define homing/hard limit switch input pins.
#define LIMIT_PORT              GPIOB
#define X_LIMIT_PIN             12
#define Y_LIMIT_PIN             13
#define Z_LIMIT_PIN             14
#define LIMIT_INMODE            GPIO_BITBAND

// Define ganged axis or A axis step pulse and step direction output pins.
#if N_ABC_MOTORS > 0
#define M3_AVAILABLE
#define M3_STEP_PORT            STEP_PORT
#define M3_STEP_PIN             6
#define M3_DIRECTION_PORT       DIRECTION_PORT
#define M3_DIRECTION_PIN        7
#define M3_LIMIT_PORT           GPIOB
#define M3_LIMIT_PIN            15 //PB15
#endif

// Define ganged axis or B axis step pulse and step direction output pins.
#if N_ABC_MOTORS > 1
#define M4_AVAILABLE
#define M4_STEP_PORT            GPIOB
#define M4_STEP_PIN             5
#define M4_DIRECTION_PORT       GPIOB
#define M4_DIRECTION_PIN        6
#define M4_LIMIT_PORT           GPIOB
#define M4_LIMIT_PIN            8 //PB8
#endif

// Define ganged axis or B axis step pulse and step direction output pins.
#if N_ABC_MOTORS == 3
#define M5_AVAILABLE
#define M5_STEP_PORT            GPIOC
#define M5_STEP_PIN             0
#define M5_DIRECTION_PORT       GPIOC
#define M5_DIRECTION_PIN        1
#define M5_LIMIT_PORT           GPIOC
#define M5_LIMIT_PIN            2 
#endif


  // Define spindle enable and spindle direction output pins.
#define SPINDLE_ENABLE_PORT     GPIOB
#define SPINDLE_ENABLE_PIN      1
#define SPINDLE_DIRECTION_PORT  GPIOB
#define SPINDLE_DIRECTION_PIN   0

// Define spindle PWM output pin.
#define SPINDLE_PWM_PORT_BASE   GPIOA_BASE
#define SPINDLE_PWM_PIN         8

// Define flood and mist coolant enable output pins.
#define COOLANT_FLOOD_PORT      GPIOB
#define COOLANT_FLOOD_PIN       3
#define COOLANT_MIST_PORT       GPIOB
#define COOLANT_MIST_PIN        4

// Define user-control controls (cycle start, reset, feed hold) input pins.
#define CONTROL_PORT            GPIOC
#define RESET_PIN               7
#define FEED_HOLD_PIN           6
#define CYCLE_START_PIN         5
#if SAFETY_DOOR_ENABLE
#define SAFETY_DOOR_PIN         4
#endif
#define CONTROL_INMODE          GPIO_MAP

// Define probe switch input pin.
#define PROBE_PORT              GPIOC
#define PROBE_PIN               3

#if I2C_STROBE_ENABLE
#define I2C_STROBE_PORT         GPIOB
#define I2C_STROBE_PIN          15
#endif

#if SDCARD_ENABLE
#define SPI1_REMAP
#define SD_CS_PORT              GPIOA
#define SD_CS_PIN               3
// The following defines are not used but defined for reference
// Port init and remap is done by HAL_SPI_MspInit() in stm32f1xx_hal_msp.c
#define SD_IO_PORT              GPIOB
#define SD_SCK_PIN              3
#define SD_MISO_PIN             4
#define SD_MOSI_PIN             5
#endif

[terjeio]

Thank you, I will add it to the board maps. If you ever publish the design please tell me so I can add a link to it.

[macbef]

And my platformio.ini has this new env:
(might need some cleanup...)

[env:SVM_6AXES_USB]
board = genericSTM32F103RC
board_build.ldscript = STM32F103RCTX_FLASH.ld
build_flags = 
	${common.build_flags}
	-D BOARD_MY_MACHINE=
	-D USB_SERIAL_CDC=1
	-D N_AXIS=6
lib_deps = 
	${common.lib_deps}
	eeprom
	trinamic
lib_extra_dirs = ${common.lib_extra_dirs}

[macbef]

Side issue with the same PCB:
I used a STM32F103RF on one of the boards (thinking this should be compatible to the RC version). But the firmware is not running (USB enumerates-> I get a COM port, but no reaction to commands)
Do I need to change something in the linker scripts? Do I need to change the "board_build.ldscript = STM32F103RCTX_FLASH.ld"?
I changed the board to genericSTM32F103RF but this alone doesn't help.

[macbef]

Never mind. The RC version works fine with the RF controller. Looks like I had a problem flashing the board.