Trinamic 2130 drivers on the BDRING 6-pack CNC controller v1p5

[UniqueLemming]

Hi, I'm trying to compile for my 6-pack v1p5. There are several board files for the 6pack boards, but using the web compiler, I wasn't able to initialize my drivers. The map files that are there don't have separate CS pins, which I believe this board does need. So I've compiled it myself with my own board map. However, I am still not able to initialize the drivers.
There is a good chance that I'm just doing something wrong, but do you have any idea what?

M122I
[MSG:Warning: Could not communicate with stepper driver!]

When I try to change the current value at $140, I get:
error:2 - Missing the expected G-code word value or numeric value format is not valid.

I'll add: My console output from IO Sender, platformio.ini, my_machine.h, my_machine_map.h

[UniqueLemming]

/*
bdring_i2s_6_axis_map.h - An embedded CNC Controller with rs274/ngc (g-code) support

Driver code for ESP32

Part of grblHAL

Copyright (c) 2020-2024 Terje Io

grblHAL 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.

grblHAL 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 grblHAL. If not, see http://www.gnu.org/licenses/.
*/

#define BOARD_NAME "Sam's 6Pack CNC V1p5"
//#define BOARD_NAME "BDRING 6-axis I2S"

#if KEYPAD_ENABLE == 1
#error No free pins for I2C keypad!
#endif

#include "use_i2s_out.h"

#if SDCARD_ENABLE || TRINAMIC_SPI_ENABLE

// Pin mapping when using SPI mode.
// With this mapping, SD card can be used both in SPI and 1-line SD mode.
#define PIN_NUM_MISO 19
#define PIN_NUM_MOSI 23
#define PIN_NUM_CLK 18
#if SDCARD_ENABLE
// Note that a pull-up on CS line is required in SD mode.
#define PIN_NUM_CS 5
#endif // SDCARD_ENABLE
#endif // SDCARD_ENABLE || TRINAMIC_SPI_ENABLE

#define I2S_OUT_BCK GPIO_NUM_22
#define I2S_OUT_WS GPIO_NUM_17
#define I2S_OUT_DATA GPIO_NUM_21

#if TRINAMIC_SPI_ENABLE
#define MOTOR_CSX_PIN I2SO(3)
#define MOTOR_CSY_PIN I2SO(6)
#define MOTOR_CSZ_PIN I2SO(11)
#endif

#define X_STEP_PIN I2SO(2)
#define X_DIRECTION_PIN I2SO(1)
#define X_ENABLE_PIN I2SO(0)
#define X_LIMIT_PIN GPIO_NUM_33 //Module 1-1

#define Y_STEP_PIN I2SO(5)
#define Y_DIRECTION_PIN I2SO(4)
#define Y_ENABLE_PIN I2SO(7)
#define Y_LIMIT_PIN GPIO_NUM_32 //Module 1-2

#define Z_STEP_PIN I2SO(10)
#define Z_DIRECTION_PIN I2SO(9)
#define Z_ENABLE_PIN I2SO(8)
#define Z_LIMIT_PIN GPIO_NUM_12 //Module 5-3 - I use probe instead

// Define ganged axis or A axis step pulse and step direction output pins.
#if N_ABC_MOTORS >= 1
#define M3_AVAILABLE
#define M3_STEP_PIN I2SO(13)
#define M3_DIRECTION_PIN I2SO(12)
#define M3_ENABLE_PIN I2SO(15)
#define M3_LIMIT_PIN GPIO_NUM_35 //Module 1-3
#if TRINAMIC_SPI_ENABLE
#define MOTOR_CSM3_PIN I2SO(14)
#endif // TRINAMIC_SPI_ENABLE
#endif // N_ABC_MOTORS >= 1

// Define ganged axis or B axis step pulse and step direction output pins.
#if N_ABC_MOTORS >= 2
#define M4_AVAILABLE
#define M4_STEP_PIN I2SO(18)
#define M4_DIRECTION_PIN I2SO(17)
#define M4_ENABLE_PIN I2SO(16)
#define M4_LIMIT_PIN I2SO(24) //Module 5-1
#if TRINAMIC_SPI_ENABLE
#define MOTOR_CSM4_PIN I2SO(19)
#endif // TRINAMIC_SPI_ENABLE
#endif // N_ABC_MOTORS >= 2

// Define ganged axis or B axis step pulse and step direction output pins.
#if N_ABC_MOTORS == 3
#define M5_AVAILABLE
#define M5_STEP_PIN I2SO(21)
#define M5_DIRECTION_PIN I2SO(20)
#define M5_ENABLE_PIN I2SO(23)
#define M5_LIMIT_PIN I2SO(25) //Module 5-2
#if TRINAMIC_SPI_ENABLE
#define MOTOR_CSM5_PIN I2SO(22)
#endif // TRINAMIC_SPI_ENABLE
#endif // N_ABC_MOTORS == 3

#define AUXOUTPUT0_PIN GPIO_NUM_26 // Module 3-1 - Spindle PWM
#define AUXOUTPUT1_PIN GPIO_NUM_4 // Module 3-2 - Spindle enable
#define AUXOUTPUT2_PIN GPIO_NUM_16 // Module 3-3 - Coolant mist
#define AUXOUTPUT3_PIN GPIO_NUM_27 // Module 3-4 - Coolant flood

// Define driver spindle pins
#if DRIVER_SPINDLE_ENABLE & SPINDLE_PWM
#define SPINDLE_PWM_PIN AUXOUTPUT0_PIN
#endif
#if DRIVER_SPINDLE_ENABLE & SPINDLE_DIR
#define SPINDLE_DIRECTION_PIN AUXOUTPUT4_PIN
#endif
#if DRIVER_SPINDLE_ENABLE & SPINDLE_ENA
#define SPINDLE_ENABLE_PIN AUXOUTPUT1_PIN
#endif

// Define flood and mist coolant enable output pins.
#define COOLANT_MIST_PIN AUXOUTPUT2_PIN // M7 - Module 3-3
#define COOLANT_FLOOD_PIN AUXOUTPUT3_PIN // M8 - Module 3-4

// Define user-control CONTROLs (cycle start, reset, feed hold) input pins.
//#define RESET_PIN GPIO_NUM_34
#define FEED_HOLD_PIN GPIO_NUM_25 //Module 2-2
#define CYCLE_START_PIN GPIO_NUM_2 //Module 2-1

#define AUXINPUT0_PIN GPIO_NUM_39 //Module 2-3
#define AUXINPUT1_PIN GPIO_NUM_36 //Module 2-4
#define AUXINPUT2_PIN GPIO_NUM_34 //Module 1-4 - Probe

#if PROBE_ENABLE
#define PROBE_PIN AUXINPUT2_PIN
#endif

#ifdef ADD_SERIAL1
#define SERIAL1_PORT
#define UART1_RX_PIN GPIO_NUM_15
#define UART1_TX_PIN GPIO_NUM_14
#if MODBUS_ENABLE & MODBUS_RTU_DIR_ENABLED
#define MODBUS_DIRECTION_PIN GPIO_NUM_13
#endif
#endif

// Module 1-1 - GPIO_NUM_33
// Module 1-2 - GPIO_NUM_32
// Module 1-3 - GPIO_NUM_35
// Module 1-4 - GPIO_NUM_34

// Module 2-1 - GPIO_NUM_2
// Module 2-2 - GPIO_NUM_25
// Module 2-3 - GPIO_NUM_39
// Module 2-4 - GPIO_NUM_36

// Module 3-1 - GPIO_NUM_26
// Module 3-2 - GPIO_NUM_4
// Module 3-3 - GPIO_NUM_16
// Module 3-4 - GPIO_NUM_27

// Module 4-1 - GPIO_NUM_14
// Module 4-2 - GPIO_NUM_13
// Module 4-3 - GPIO_NUM_15
// Module 4-4 - GPIO_NUM_12

// Module 5-1 - I2SO(24)
// Module 5-2 - I2SO(25)
// Module 5-3 - I2SO(26)
// Module 5-4 - I2SO(27)

[UniqueLemming]

/*
Part of grblHAL

Copyright (c) 2020-2024 Terje Io

grblHAL 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.

grblHAL 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 grblHAL. If not, see http://www.gnu.org/licenses/.
*/

// NOTE: Only one board may be enabled!
// If none is enabled pin mappings from generic_map.h will be used
//#define BOARD_BDRING_V3P5 //
//#define BOARD_BDRING_V4 //
//#define BOARD_BDRING_I2S6A //
//#define BOARD_BDRING_6X //
//#define BOARD_BDRING_I2S_6PACK_EXT_V2 //
//#define BOARD_ESPDUINO32 //
//#define BOARD_SOURCERABBIT_4AXIS //
//#define BOARD_PROTONEER_3XX //
//#define BOARD_FYSETC_E4 //
//#define BOARD_XPRO_V5 //
//#define BOARD_MKS_DLC32_V2P0 //
//#define BOARD_MKS_TINYBEE_V1 //
//#define BOARD_CNC3040 //
//#define BOARD_BLACKBOX_X32 // NOTE: Enable in CMakeLists.txt to set board specific defaults for the core!
//#define BOARD_ROOTCNC_V2 //
//#define BOARD_ROOTCNC_V3 //
//#define BOARD_ROOTCNC_PRO //
//#define BOARD_JACKPOT // Uses TMC2209 drivers, untested!
//#define BOARD_BTT_RODENT // Uses TMC2160 drivers, untested!
//#define BOARD_CNC_BOOSTERPACK //
//#define BOARD_GENERIC_S3 // Generic map for ESP32-S3, untested - WIP!
//#define BOARD_GENERIC_I2S_S3 // Generic map for ESP32-S3 with I2S shift registers for I/O expansion, untested - WIP!
#define BOARD_MY_MACHINE // Add my_machine_map.h in the boards directory before enabling this!

// Configuration
// Uncomment to enable, for some a value > 1 may be assigned, if so the default value is shown.

#if CONFIG_IDF_TARGET_ESP32S3
#define USB_SERIAL_CDC 1 // Serial communication via native USB.
#endif

// Spindle selection:
// Up to four specific spindle drivers can be instantiated at a time
// depending on N_SPINDLE and N_SYS_SPINDLE definitions in grbl/config.h.
// If none are specified the default PWM spindle is instantiated.
// Spindle definitions can be found in grbl/spindle_control.h.
// More here https://github.com/grblHAL/Plugins_spindle
#define SPINDLE0_ENABLE SPINDLE_PWM0_NODIR
//#define SPINDLE1_ENABLE SPINDLE_PWM0_NODIR
//#define SPINDLE2_ENABLE SPINDLE_NONE
//#define SPINDLE3_ENABLE SPINDLE_NONE
//#define SPINDLE_OFFSET 1 // Uncomment to enable settings for laser spindle XY-offset.
// **********************
//#define MODBUS_ENABLE 1 // Set to 1 for auto direction, 2 for direction signal on auxiliary output pin.
//#define WEBUI_ENABLE 3 // Enable ESP3D-WEBUI plugin along with networking and SD card plugins.
//#define WEBUI_AUTH_ENABLE 1 // Enable ESP3D-WEBUI authentication.
//#define WIFI_ENABLE 1 //
//#define WIFI_SOFTAP 1 // Use Soft AP mode for WiFi.
//#define ETHERNET_ENABLE 1 // Ethernet streaming. Uses networking plugin.
//#define BLUETOOTH_ENABLE 1 // Set to 1 for native radio, 2 for HC-05 module.
//#define SDCARD_ENABLE 1 // Run gcode programs from SD card. Set to 2 to enable YModem upload.
//#define LITTLEFS_ENABLE 1 // Enable flash based storage, automatically enabled if WebUI is enabled. Set to 2 to mount as root.
//#define MPG_ENABLE 1 // Enable MPG interface. Requires a serial stream and means to switch between normal and MPG mode.
// 1: Mode switching is by handshake pin.
// 2: Mode switching is by the CMD_MPG_ENABLE_TOGGLE (0x8B) command character.
//#define KEYPAD_ENABLE 1 // 1: uses a I2C keypad for input.
// 2: uses a serial stream for input. If MPG_ENABLE is set > 0 the serial stream is shared with the MPG.
//#define LASER_COOLANT_ENABLE 1 // Laser coolant plugin. To be completed.
//#define LB_CLUSTERS_ENABLE 1 // LaserBurn cluster support.
//#define FANS_ENABLE 1 // Enable fan control via M106/M107. Enables fans plugin.
//#define EMBROIDERY_ENABLE 1 // Embroidery plugin. To be completed.
#define TRINAMIC_ENABLE 2130 // Trinamic TMC2130 stepper driver support. NOTE: work in progress.
//#define TRINAMIC_ENABLE 2209 // Trinamic TMC2209 stepper driver support. NOTE: work in progress.
//#define TRINAMIC_ENABLE 5160 // Trinamic TMC5160 stepper driver support. NOTE: work in progress.
#define TRINAMIC_R_SENSE 110
#define TRINAMIC_SPI_ENABLE 2
//#define TRINAMIC_I2C 1 // Trinamic I2C - SPI bridge interface.
//#define TRINAMIC_DEV 1 // Development mode, adds a few M-codes to aid debugging. Do not enable in production code.
//#define EEPROM_ENABLE 16 // I2C EEPROM/FRAM support. Set to 16 for 2K, 32 for 4K, 64 for 8K, 128 for 16K and 256 for 16K capacity.
//#define EEPROM_IS_FRAM 1 // Uncomment when EEPROM is enabled and chip is FRAM, this to remove write delay.
#define ESTOP_ENABLE 0 // When enabled only real-time report requests will be executed when the reset pin is asserted.
// NOTE: if left commented out the default setting is determined from COMPATIBILITY_LEVEL.
//#define RGB_LED_ENABLE 2 // Set to 1 to enable strip length settings $536 and $537, set to 2 to also enable M150 LED strip control.
//#define PWM_SERVO_ENABLE 1 // Enable M280 PWM servo support, requires at least one PWM capable auxiliary output.
//#define BLTOUCH_ENABLE 1 // Enable M401/M402 BLTouch support. Requires and claims one auxiliary PWM servo output.
//#define EVENTOUT_ENABLE 1 // Enable binding events (triggers) to control auxiliary outputs.
//#define ESP_AT_ENABLE 1 // Enable support for Telnet communication via UART connected ESP32 running ESP-AT.
//#define FEED_OVERRIDE_ENABLE 1 // Enable M200 feed override control.
//#define HOMING_PULLOFF_ENABLE 1 // Enable per axis homing pulloff distance settings.

// Optional control signals:
// These will be assigned to aux input pins. Use the $pins command to check which pins are assigned.
// NOTE: If not enough pins are available assignment will silently fail.
//#define PROBE_ENABLE 0 // Uncomment to disable probe input.
//#define SAFETY_DOOR_ENABLE 1
//#define MOTOR_FAULT_ENABLE 1
//#define MOTOR_WARNING_ENABLE 1
//#define PROBE_DISCONNECT_ENABLE 1
//#define STOP_DISABLE_ENABLE 1
//#define BLOCK_DELETE_ENABLE 1
//#define SINGLE_BLOCK_ENABLE 1
//#define LIMITS_OVERRIDE_ENABLE 1

// If the selected board map supports more than three motors ganging and/or auto-squaring
// of axes can be enabled here.
#define X_GANGED 1
#define X_AUTO_SQUARE 1
//#define Y_GANGED 1
//#define Y_AUTO_SQUARE 1
//#define Z_GANGED 1
//#define Z_AUTO_SQUARE 1
// For ganged axes the limit switch input (if available) can be configured to act as a max travel limit switch.
// NOTE: If board map already has max limit inputs defined this configuration will be ignored.
//#define X_GANGED_LIM_MAX 1
//#define Y_GANGED_LIM_MAX 1
//#define Z_GANGED_LIM_MAX 1
//

#if WIFI_ENABLE || ETHERNET_ENABLE || WEBUI_ENABLE
#define TELNET_ENABLE 1 // Telnet daemon - requires WiFi streaming enabled.
//#define WEBSOCKET_ENABLE 1 // Websocket daemon - requires WiFi streaming enabled.
//#define MDNS_ENABLE 0 // mDNS daemon. Do NOT enable here, enable in CMakeLists.txt!
//#define SSDP_ENABLE 1 // SSDP daemon - requires HTTP enabled.
//#define MQTT_ENABLE 1 // MQTT client API, only enable if needed by plugin code.
#if SDCARD_ENABLE || WEBUI_ENABLE
#define FTP_ENABLE 1 // Ftp daemon - requires SD card enabled.
//#define HTTP_ENABLE 1 // http daemon - requires SD card enabled.
//#define WEBDAV_ENABLE 1 // webdav protocol - requires http daemon and SD card enabled.
#endif
// The following symbols have the default values as shown, uncomment and change as needed.
//#define NETWORK_STA_HOSTNAME "grblHAL"
//#define NETWORK_STA_IPMODE 1 // 0 = static, 1 = DHCP, 2 = AutoIP
//#define NETWORK_STA_IP "192.168.5.1"
//#define NETWORK_STA_GATEWAY "192.168.5.1"
//#define NETWORK_STA_MASK "255.255.255.0"
#if WIFI_SOFTAP
//#define NETWORK_AP_SSID "grblHAL_AP"
//#define NETWORK_AP_PASSWORD "grblHALap"
//#define NETWORK_AP_HOSTNAME "grblHAL_AP"
//#define NETWORK_AP_IPMODE 0 // Do not change!
//#define NETWORK_AP_IP "192.168.4.1" // Do not change!
//#define NETWORK_AP_GATEWAY "192.168.4.1" // Do not change!
//#define NETWORK_AP_MASK "255.255.255.0"
#endif
//#define NETWORK_FTP_PORT 21
//#define NETWORK_TELNET_PORT 23
//#define NETWORK_HTTP_PORT 80
#if HTTP_ENABLE
//#define NETWORK_WEBSOCKET_PORT 81
#else
//#define NETWORK_WEBSOCKET_PORT 80
#endif // HTTP_ENABLE
#endif // WIFI_ENABLE

[UniqueLemming]

Building for BDring new 6x board

[platformio]
src_dir = main
include_dir = main

[wifi_networking]
build_flags =

[env:esp32dev]
platform = espressif32 @ ~4.0.0
framework = espidf
board = esp32dev
board_build.partitions = partitions.csv

board_build.embed_files =
main/embedded/favicon.ico
main/embedded/ap_login.html
main/embedded/index.html.gz

build_flags =
-Wimplicit-fallthrough=1
-Wno-missing-field-initializers
-Wno-maybe-uninitialized
-Wno-stringop-truncation

monitor_speed=115200

lib_compat_mode = off

[UniqueLemming]

[VER:1.1f.20250107:]
[OPT:VNMDSL2,100,1024,3,0]
[AXS:3:XYZ]
[NEWOPT:ENUMS,RT+,REBOOT,SED,RTC]
[FIRMWARE:grblHAL]
[SIGNALS:RHSP]
[NVS STORAGE:*FLASH 4K]
[FREE MEMORY:235K]
[DRIVER:ESP32]
[DRIVER VERSION:241222]
[DRIVER OPTIONS:4.3.2]
[BOARD:Sam's 6Pack CNC V1p5]
[AUX IO:2,0,0,0]
[PLUGIN:Trinamic v0.21]
[G54:0.000,0.000,0.000]
[G55:0.000,0.000,0.000]
[G56:0.000,0.000,0.000]
[G57:0.000,0.000,0.000]
[G58:0.000,0.000,0.000]
[G59:0.000,0.000,0.000]
[G59.1:0.000,0.000,0.000]
[G59.2:0.000,0.000,0.000]
[G59.3:0.000,0.000,0.000]
[G28:0.000,0.000,0.000]
[G30:0.000,0.000,0.000]
[G92:0.000,0.000,0.000]
[TLO:0.000,0.000,0.000]
[PRB:0.000,0.000,0.000:0]
M122I
[MSG:Warning: Could not communicate with stepper driver!]
error:2 - Missing the expected G-code word value or numeric value format is not valid.
$Pins
[PIN:25,Feed hold]
[PIN:2,Cycle start]
[PIN:34,Probe]
[PIN:33,X limit min]
[PIN:35,X limit min 2]
[PIN:32,Y limit min]
[PIN:12,Z limit min]
[PIN:39,Aux in 0,P0]
[PIN:36,Aux in 1,P1]
[PIN:I2S2,X step]
[PIN:I2S13,X2 step]
[PIN:I2S5,Y step]
[PIN:I2S10,Z step]
[PIN:I2S1,X dir]
[PIN:I2S12,X2 dir]
[PIN:I2S4,Y dir]
[PIN:I2S9,Z dir]
[PIN:I2S3,Motor CSX]
[PIN:I2S6,Motor CSY]
[PIN:I2S11,Motor CSZ]
[PIN:I2S14,Motor CSM3]
[PIN:I2S0,X enable]
[PIN:I2S15,X enable]
[PIN:I2S7,Y enable]
[PIN:I2S8,Z enable]
[PIN:4,Spindle on]
[PIN:26,Spindle PWM]
[PIN:16,Mist]
[PIN:27,Flood]
[PIN:19,MISO]
[PIN:23,MOSI]
[PIN:18,SPI CLK]
[PIN:34,RX,Primary UART]
[PIN:35,TX,Primary UART]

[terjeio]

Individual CS lines for Trinamic drivers was not supported earlier, added now. Note that since the CS lines are routed via I2S a longer delay or some mechanism (I2S passthru mode?) to ensure the lines are actually set properly before transferring data has to be added. I do not have a board available for testing so I am not able to do it.