How to set up SPI communication with the TMC5160

[dong004932-art]

Hello,

I am a developer working on building a 5-axis milling machine using grblHAL.
Since I am still a beginner in development, I would appreciate your patience even if I ask basic questions.

Currently, I am using the STM32F7xx library for grblHAL with an STM32 Nucleo board, and I have successfully completed motor operation and homing by connecting five TMC5160 evaluation boards using STEP and DIR signals instead of SPI.

However, I would like to control all five axes through SPI communication between the TMC5160 evaluation boards and the Nucleo board.

I have already downloaded all the necessary libraries.
Inside boards/reference_map.h, I attempted to enable the #if TRINAMIC_ENABLE feature, but I encountered the error:
#error "Trinamic plugin not supported!"
I have confirmed that the Trinamic library is present.

Could you please explain how to connect five TMC5160 evaluation boards (5-axis) via SPI?

I would also like to ask about the PROBE function during development.
I would appreciate it if I could communicate more quickly by email. If there is an expert who can assist me, I would be grateful if you could send me your contact information.
I am truly a beginner, so I kindly ask for your help. I really want to complete this development project.

[terjeio]

The STM32H7xx driver does not support Trinamic drivers "as-is".

1. The board map has to be updated with relevant bits, which SPI port and which mode (single chip select or individual chip select) and pin assignments to match. One of the btt*.h_ board maps from the STM32F4xx driver can be used as a reference.
2. The driver does not have the low-level Trinamic communications level implemented, the needed files (tmc_spi.*) can be copied from the STM32F4xx driver and may work without modifications.

[dong004932-art]

Thank you very much for your quick response.

May I ask an additional question?

I am configuring a 5-axis system consisting of X, Y, Z linear axes (units: mm) and A, B rotary axes (units: degrees).
Using the code below, I was able to correctly calculate the X, Y, Z linear axes based on the ballscrew pitch and stepper motor angle, and verified that movements of 1 mm work properly.

However, for the rotary axes, it seems that the code is currently treating them in millimeter units.
When issuing a motion command, is there any setting that allows the A and B axes to be recognized as rotary axes or treated in degree units?

Stepper motor specifications: 1.8-degree stepper motor
Gear reducer: 100:1 (the reducer rotates 100 times for the workpiece to make one full rotation)
The stepper motor is directly coupled to the reducer.

[terjeio]

is there any setting that allows the A and B axes to be recognized as rotary axes or treated in degree units?

$376=3 to change the settings units to degrees and disabling imperial to mm (degres) translation if you are using imperial measurements. Set max travel to 0 to enable continuous rotation (disables soft limits).

[dong004932-art]

By changing the setting to $376=3, am I correct in understanding that the X, Y, Z linear axes are interpreted in millimeters, while the A and B rotary axes (360°) are interpreted in degrees?

Also, would it be possible to contact Terjeio, for example via an email address?
I would like to organize the questions and related materials I have and send them to him.

[terjeio]

You can send a DM here.

[dong004932-art]

Thank you.

I'll send it to you via DM.

Thank you so much for your help.

If you help me with development, I'll definitely find a way to thank you.