1. diff --git a/Grbl_Esp32/Machines/spi_daisy_4axis_xyz.h b/Grbl_Esp32/Machines/spi_daisy_4axis_xyz.h
  2. index 0eefb60..d2ddff2 100644
  3. --- a/Grbl_Esp32/Machines/spi_daisy_4axis_xyz.h
  4. +++ b/Grbl_Esp32/Machines/spi_daisy_4axis_xyz.h
  5. @@ -22,7 +22,8 @@
  6. You should have received a copy of the GNU General Public License
  7. along with Grbl_ESP32. If not, see <http://www.gnu.org/licenses/>.
  8. */
  9. -
  10. +#define TRINAMIC_RUN_MODE TRINAMIC_RUN_MODE_STALLGUARD
  11. +#define TRINAMIC_HOMING_MODE TRINAMIC_HOMING_STALLGUARD
  12. #define MACHINE_NAME "SPI_DAISY_4X_XYZ"
  14. #ifdef N_AXIS
  15. diff --git a/Grbl_Esp32/Motors/TrinamicDriverClass.cpp b/Grbl_Esp32/Motors/TrinamicDriverClass.cpp
  16. index ce0cab1..b5a0bcc 100644
  17. --- a/Grbl_Esp32/Motors/TrinamicDriverClass.cpp
  18. +++ b/Grbl_Esp32/Motors/TrinamicDriverClass.cpp
  19. @@ -189,6 +189,25 @@ void TrinamicDriver :: set_mode() {
  20. }
  21. }
  23. +// formats axis values into a string and returns that string in rpt
  24. +static void report_util_axis_values(float* axis_value, char* rpt) {
  25. + uint8_t idx;
  26. + char axisVal[10];
  27. + float unit_conv = 1.0; // unit conversion multiplier..default is mm
  28. + rpt[0] = '\0';
  29. + if (report_inches->get())
  30. + unit_conv = 1.0 / MM_PER_INCH;
  31. + for (idx = 0; idx < N_AXIS; idx++) {
  32. + if (report_inches->get())
  33. + sprintf(axisVal, "%4.4f", axis_value[idx] * unit_conv); // Report inches to 4 decimals
  34. + else
  35. + sprintf(axisVal, "%4.3f", axis_value[idx] * unit_conv); // Report mm to 3 decimals
  36. + strcat(rpt, axisVal);
  37. + if (idx < (N_AXIS - 1))
  38. + strcat(rpt, ",");
  39. + }
  40. +}
  41. +
  42. /*
  43. This is the stallguard tuning info. It is call debug, so it could be generic across all classes.
  44. */
  45. @@ -199,15 +218,21 @@ void TrinamicDriver :: debug_message() {
  46. if (tstep == 0xFFFFF || tstep < 1) // if axis is not moving return
  47. return;
  48. float feedrate = st_get_realtime_rate(); //* settings.microsteps[axis_index] / 60.0 ; // convert mm/min to Hz
  49. -
  50. - grbl_msg_sendf(CLIENT_SERIAL,
  51. + int32_t current_position[N_AXIS]; // Copy current state of the system position variable
  52. + float print_position[N_AXIS];
  53. + memcpy(current_position, sys_position, sizeof(sys_position));
  54. + system_convert_array_steps_to_mpos(print_position, current_position);
  55. + char temp[80];
  56. + report_util_axis_values(print_position, temp);
  57. + grbl_msg_sendf(CLIENT_ALL,
  58. MSG_LEVEL_INFO,
  59. - "%s Stallguard %d SG_Val: %04d Rate: %05.0f mm/min SG_Setting:%d",
  60. + "%s Stallguard %d SG_Val: %04d Rate: %05.0f mm/min SG_Setting:%d MPos:%s",
  61. _axis_name,
  62. tmcstepper->stallguard(),
  63. tmcstepper->sg_result(),
  64. feedrate,
  65. - axis_settings[axis_index]->stallguard->get());
  66. + axis_settings[axis_index]->stallguard->get(),
  67. + temp);
  68. }
  70. // calculate a tstep from a rate
  71. diff --git a/Grbl_Esp32/machine.h b/Grbl_Esp32/machine.h
  72. index 3f987a9..f2e5438 100644
  73. --- a/Grbl_Esp32/machine.h
  74. +++ b/Grbl_Esp32/machine.h
  75. @@ -17,7 +17,7 @@ PWM
  76. // !!! For initial testing, start with test_drive.h which disables
  77. // all I/O pins
  78. // #include "Machines/atari_1020.h"
  79. -#include "Machines/test_drive.h"
  80. +#include "Machines/spi_daisy_4axis_xyz.h"
  82. // !!! For actual use, change the line above to select a board
  83. // from Machines/, for example: