TMC5160 Stallguard/Sensorless homing support

[mamama1]

Hi

I wasn't quite sure where to post this (whether in the Marlin or in this repo), is Stallguard/Sensorless homing currently working with the TMC5160 or is this yet to be implemented? I'm asking because we are finally starting to develop a 3D printer board which has those TMC5160 drivers onboard.

Thanks!

[teemuatlut]

Yes it should work just as well as with 2130.

[mamama1]

Great, thanks for your reply! Is it implemented the same way, through DIAG1 pin like with the TMC2130 steppers?

[PapiOrso]

I purchased a SKR1.4 board equipped with TMC5160 V1.2 which work fine. Except for the StallGuard function that in StealthChop mode don't work. From Bigtreetech no help, they only tell me they are sorry for a known bug, yet they continue to sell them. Before, I used the TMC2130 V1.2 that in StealthChop worked quietly together with the StallGuard.

[Rincewind08]

Okay, so check it out. You need to add a pin. There are four holes, three of them are for the quadrature encoder that you can hook up (see as5601 if interested, budget option. You can also use I2C Encoders and do it on Marlin side - another topic entirely.)

So when you are looking at your 5160 v1.2, you will see four golden holes going across one side. For the ones I have, I opened the box to find a pinout from bigtreetech, and it showed me that the DIAG1 (StallGuard2 Output pin) was the second one over from the Enable pin. So it goes x DIAG1 x x, starting from the enable pin. The other three pins, should you want to solder them up too, should face upwards, but the pin you solder to DIAG1 will go down into the motherboard. (Assuming you are running a 32 bit SKR style board, and if your not, by god you can get an SKR 1.4 Turbo for 25$ on Amazon.)

Then you simply have to find the sweet spot for your motors in terms of current and StallGuard sensitivity. I could dive off into that talk for days, but for instance, I am using 1.7 amp RMS Nema 17s, and I have found that with a homing amperage of 600ma and a StallGuard sensitivity of 3, I am able to get a soft and truly silent homing to the exact same position every time. All of these settings will be found in the Configuration_adv.h file. I have found that the homing current value is typically 1/5th to 1/3rd of your full stepping current for the motor. Solder that single pin on, double check the schematics for your stepper, making sure to connect to DIAG1. Solder it going downwards into the board, adding the solder from the top. Do not be sloppy and touch any components or any other pads around that pin's hole, or you will have what used to be a functioning 5160, but is now just some angry mosfets.

Hope this helps.

Also, I have some abnormal microstep settings, I probably wouldn't copy and paste any of this information into your config. I'm just posting it, minus all the marlin comments, to try and help you guys understand what has to be done.

if HAS_TRINAMIC_CONFIG

define HOLD_MULTIPLIER 0.7 // Scales down the holding current from run current

define INTERPOLATE true // Interpolate X/Y/Z_MICROSTEPS to 256

if AXIS_IS_TMC(X)

#define X_CURRENT       1400        // (mA) RMS current. Multiply by 1.414 for peak current.
#define X_CURRENT_HOME  600  // (mA) RMS current for sensorless homing
#define X_MICROSTEPS     8    // 0..256
#define X_RSENSE          0.075
#define X_CHAIN_POS      -1    // <=0 : Not chained. 1 : MCU MOSI connected. 2 : Next in chain, ...

endif

if AXIS_IS_TMC(Y)

#define Y_CURRENT       1400
#define Y_CURRENT_HOME  600
#define Y_MICROSTEPS     8
#define Y_RSENSE          0.075
#define Y_CHAIN_POS      -1

endif

if AXIS_IS_TMC(Z)

#define Z_CURRENT       650
#define Z_CURRENT_HOME  Z_CURRENT
#define Z_MICROSTEPS     32
#define Z_RSENSE          0.075
#define Z_CHAIN_POS      -1

endif

if AXIS_IS_TMC(E0)

#define E0_CURRENT      800
#define E0_MICROSTEPS    32
#define E0_RSENSE         0.075
#define E0_CHAIN_POS     -1

endif

define TMC_USE_SW_SPI

//#define TMC_SW_MOSI -1 //#define TMC_SW_MISO -1 //#define TMC_SW_SCK -1

//#define SOFTWARE_DRIVER_ENABLE

define STEALTHCHOP_XY

define STEALTHCHOP_Z

define STEALTHCHOP_E

define CHOPPER_TIMING CHOPPER_DEFAULT_24V

define MONITOR_DRIVER_STATUS

if ENABLED(MONITOR_DRIVER_STATUS)

#define CURRENT_STEP_DOWN     50  // [mA]
#define REPORT_CURRENT_CHANGE
//#define STOP_ON_ERROR

endif

define HYBRID_THRESHOLD

define X_HYBRID_THRESHOLD 65 // [mm/s]

define Y_HYBRID_THRESHOLD 65

define Z_HYBRID_THRESHOLD 10

define SENSORLESS_HOMING // StallGuard capable drivers only

if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING)

// TMC2209: 0...255. TMC2130: -64...63
#define X_STALL_SENSITIVITY  3
#define Y_STALL_SENSITIVITY  3
//#define Z_STALL_SENSITIVITY  8
//#define SPI_ENDSTOPS              // TMC2130 only
#define IMPROVE_HOMING_RELIABILITY

endif

[MarcelRobitaille]

It would be nice to have an example of how to home without a sensor (outside of marlin).

@Rincewind08, it seems that this is to integrate into marlin?