Karl Zweimüller / Mbed OS TMC2209-Test2

Testprogram for TMC2209-Library. Uses Speed-Control via VACTUAL instead of Step/Dir

Dependencies:   TMCStepper mRotaryEncoder-os

main.cpp@4:12bfa2c1729f, 2021-03-18 (annotated)

Committer:
charly
Date:
Thu Mar 18 20:48:31 2021 +0000
Revision:
4:12bfa2c1729f
Parent:
3:209a9c414f54
Child:
5:7f250f463aa2
working version with rotary encoder for speed-selection.; No speedlimit!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charly 0:3f4cfbeda9d3 1 #include "mbed.h"
charly 0:3f4cfbeda9d3 2 #include "platform/mbed_thread.h"
charly 2:94c5b3f09463 3 #include "TMCStepper.h"
charly 4:12bfa2c1729f 4 #include "mRotaryEncoder.h"
charly 2:94c5b3f09463 5
charly 2:94c5b3f09463 6 /*
charly 2:94c5b3f09463 7 Testprogram for TMCStepper-Library
charly 2:94c5b3f09463 8 TMCStepper based on https://github.com/teemuatlut/TMCStepper for Arduino
charly 2:94c5b3f09463 9 by https://github.com/teemuatlut
charly 2:94c5b3f09463 10 +++++
charly 2:94c5b3f09463 11 Tested with https://github.com/bigtreetech/BIGTREETECH-TMC2209-V1.2
charly 2:94c5b3f09463 12 */
charly 0:3f4cfbeda9d3 13
charly 0:3f4cfbeda9d3 14
charly 0:3f4cfbeda9d3 15 DigitalOut ledDir(LED2);
charly 0:3f4cfbeda9d3 16 //Virtual serial port over USB with 15200 baud 8N1
charly 0:3f4cfbeda9d3 17 static BufferedSerial host(USBTX, USBRX,115200);
charly 0:3f4cfbeda9d3 18
charly 4:12bfa2c1729f 19 //mRotaryEncoder(PinName pinA, PinName pinB, PinName pinSW, PinMode pullMode=PullUp, int debounceTime_us=1000)
charly 4:12bfa2c1729f 20 mRotaryEncoder wheel(p16, p17, p18,PullUp,1500);
charly 4:12bfa2c1729f 21
charly 2:94c5b3f09463 22 // hardware parameters:
charly 0:3f4cfbeda9d3 23 // MOTOR Steps per Revolution ( 1/8 Microsteps, 200Steps per Rev / 1.8 degrees per FullStep)
charly 0:3f4cfbeda9d3 24 #define MSPR 1600
charly 0:3f4cfbeda9d3 25 // Gear Ratio
charly 0:3f4cfbeda9d3 26 #define GR 288
charly 0:3f4cfbeda9d3 27
charly 0:3f4cfbeda9d3 28 #define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2
charly 3:209a9c414f54 29 #define R_SENSE 0.11f // R-Sense in OHM.Match to your driver
charly 2:94c5b3f09463 30 #define MICROSTEPS 128 // # of microsteps
charly 4:12bfa2c1729f 31 #define RMSCURRENT 600 // RMS current of Stepper Coil in mA
charly 0:3f4cfbeda9d3 32
charly 2:94c5b3f09463 33 // A TMCStepper-object with UART and given address and R-Sense
charly 0:3f4cfbeda9d3 34 //RX, TX, RS, Addr
charly 0:3f4cfbeda9d3 35 TMC2209Stepper stepper(p14, p13, R_SENSE, DRIVER_ADDRESS);
charly 0:3f4cfbeda9d3 36
charly 4:12bfa2c1729f 37 bool enc_pressed = false; // Button of rotaryencoder was pressed
charly 4:12bfa2c1729f 38 bool enc_rotated = false; // rotary encoder was totaded left or right
charly 4:12bfa2c1729f 39 int lastGet;
charly 4:12bfa2c1729f 40 int thisGet;
charly 4:12bfa2c1729f 41
charly 4:12bfa2c1729f 42 //interrup-Handler for button on rotary-encoder
charly 4:12bfa2c1729f 43 void trigger_sw() {
charly 4:12bfa2c1729f 44 enc_pressed = true; // just set the flag, rest is done outside isr
charly 4:12bfa2c1729f 45 }
charly 4:12bfa2c1729f 46
charly 4:12bfa2c1729f 47 //interrup-Handler for rotary-encoder rotation
charly 4:12bfa2c1729f 48 void trigger_rotated() {
charly 4:12bfa2c1729f 49 enc_rotated = true; // just set the flag, rest is done outside isr
charly 4:12bfa2c1729f 50 }
charly 4:12bfa2c1729f 51
charly 0:3f4cfbeda9d3 52 // Assumes little endian
charly 0:3f4cfbeda9d3 53 void printBits(size_t const size, void const * const ptr)
charly 0:3f4cfbeda9d3 54 {
charly 0:3f4cfbeda9d3 55 unsigned char *b = (unsigned char*) ptr;
charly 0:3f4cfbeda9d3 56 unsigned char byte;
charly 0:3f4cfbeda9d3 57 int i, j;
charly 0:3f4cfbeda9d3 58 // puts("#");
charly 0:3f4cfbeda9d3 59 for (i = size-1; i >= 0; i--) {
charly 0:3f4cfbeda9d3 60 for (j = 7; j >= 0; j--) {
charly 0:3f4cfbeda9d3 61 byte = (b[i] >> j) & 1;
charly 0:3f4cfbeda9d3 62 printf("%u", byte);
charly 0:3f4cfbeda9d3 63 }
charly 0:3f4cfbeda9d3 64 }
charly 0:3f4cfbeda9d3 65 // puts("#");
charly 0:3f4cfbeda9d3 66 }
charly 0:3f4cfbeda9d3 67
charly 0:3f4cfbeda9d3 68 int main()
charly 0:3f4cfbeda9d3 69 {
charly 0:3f4cfbeda9d3 70 printf("\r\nConnected to mbed\r\n");
charly 4:12bfa2c1729f 71
charly 4:12bfa2c1729f 72 //Int-Handler for RotaryEncoder
charly 4:12bfa2c1729f 73 // call trigger_sw() when button of rotary-encoder is pressed
charly 4:12bfa2c1729f 74 wheel.attachSW(&trigger_sw);
charly 4:12bfa2c1729f 75 // call trigger_rot() when the shaft is rotaded left or right
charly 4:12bfa2c1729f 76 wheel.attachROT(&trigger_rotated);
charly 4:12bfa2c1729f 77 lastGet = 0;
charly 4:12bfa2c1729f 78 // set encrotated, so startup
charly 4:12bfa2c1729f 79 enc_rotated = true;
charly 4:12bfa2c1729f 80
charly 2:94c5b3f09463 81 stepper.begin(); // UART: Init SW UART (if selected) with default baudrate
charly 2:94c5b3f09463 82 stepper.toff(3); // Enables driver in software - 3, 5 ????
charly 2:94c5b3f09463 83 stepper.rms_current(RMSCURRENT); // Set motor RMS current in mA / min 500 for 24V/speed:3000
charly 1:60419aa0c030 84 // 1110, 800
charly 0:3f4cfbeda9d3 85 stepper.microsteps(MICROSTEPS); // Set microsteps to 1:Fullstep ... 256: 1/256th
charly 1:60419aa0c030 86 stepper.en_spreadCycle(true); // Toggle spreadCycle on TMC2208/2209/2224: default false, true: much faster!!!!
charly 0:3f4cfbeda9d3 87 stepper.pwm_autoscale(true); // Needed for stealthChop
charly 0:3f4cfbeda9d3 88 printf("TMC-Version: %02X\r\n",stepper.version());
charly 0:3f4cfbeda9d3 89
charly 1:60419aa0c030 90 bool shaft = false; //direction CW or CCW
charly 1:60419aa0c030 91
charly 0:3f4cfbeda9d3 92 while(1) {
charly 4:12bfa2c1729f 93 /*
charly 0:3f4cfbeda9d3 94 // printf("TSTEP(): %i\r\n", stepper.TSTEP());
charly 0:3f4cfbeda9d3 95 uint32_t status = stepper.DRV_STATUS();
charly 0:3f4cfbeda9d3 96 printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
charly 0:3f4cfbeda9d3 97 uint32_t ioin = stepper.IOIN();
charly 0:3f4cfbeda9d3 98 printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
charly 0:3f4cfbeda9d3 99 // uint32_t otp = stepper.OTP_READ();
charly 0:3f4cfbeda9d3 100 // printf("OTP_READ(): ");printBits(sizeof(otp),&otp);printf("\r\n");
charly 0:3f4cfbeda9d3 101
charly 1:60419aa0c030 102 printf("VACTUAL(): %zu \r\n", stepper.VACTUAL());
charly 0:3f4cfbeda9d3 103 // increase
charly 1:60419aa0c030 104 uint32_t maxspeed = 3000; //max 3400 or 3000
charly 1:60419aa0c030 105 uint32_t actspeed = 0;
charly 0:3f4cfbeda9d3 106 while (actspeed < maxspeed) {
charly 0:3f4cfbeda9d3 107 actspeed += 200;
charly 1:60419aa0c030 108 if (actspeed > maxspeed) {
charly 1:60419aa0c030 109 actspeed = maxspeed;
charly 1:60419aa0c030 110 }
charly 3:209a9c414f54 111 printf("actspeed: %i",actspeed);
charly 0:3f4cfbeda9d3 112 stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value
charly 1:60419aa0c030 113 ThisThread::sleep_for(25ms); //wait
charly 0:3f4cfbeda9d3 114 }
charly 0:3f4cfbeda9d3 115 printf("VACTUAL(): %zu \r\n", stepper.VACTUAL());
charly 3:209a9c414f54 116 ThisThread::sleep_for(5s);
charly 0:3f4cfbeda9d3 117 // decrease
charly 0:3f4cfbeda9d3 118 maxspeed = 0;
charly 0:3f4cfbeda9d3 119 while (actspeed > maxspeed) {
charly 0:3f4cfbeda9d3 120 actspeed -= 200;
charly 1:60419aa0c030 121 if (actspeed < 0) {
charly 1:60419aa0c030 122 actspeed = 0;
charly 1:60419aa0c030 123 }
charly 3:209a9c414f54 124 printf("actspeed: %i",actspeed);
charly 0:3f4cfbeda9d3 125 stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value
charly 1:60419aa0c030 126 ThisThread::sleep_for(25ms); //wait
charly 0:3f4cfbeda9d3 127 }
charly 1:60419aa0c030 128
charly 1:60419aa0c030 129 // stepper.VACTUAL(400*MICROSTEPS);// Set Speed to value
charly 0:3f4cfbeda9d3 130 ThisThread::sleep_for(5s); //wait
charly 1:60419aa0c030 131 // inverse direction
charly 1:60419aa0c030 132 shaft = !shaft;
charly 1:60419aa0c030 133 stepper.shaft(shaft);
charly 2:94c5b3f09463 134 // Read Interace-Count
charly 2:94c5b3f09463 135 printf("IFCNT(): %zu \r\n",stepper.IFCNT());
charly 1:60419aa0c030 136 printf("...\r\n");
charly 4:12bfa2c1729f 137 */
charly 4:12bfa2c1729f 138 // shaft has been rotated?
charly 4:12bfa2c1729f 139 if (enc_rotated) {
charly 4:12bfa2c1729f 140 enc_rotated = false;
charly 4:12bfa2c1729f 141 thisGet = wheel.Get();
charly 4:12bfa2c1729f 142 stepper.VACTUAL(thisGet*100*MICROSTEPS);// Set Speed to value
charly 4:12bfa2c1729f 143 printf("actspeed: %i\r\n",thisGet*100);
charly 4:12bfa2c1729f 144
charly 4:12bfa2c1729f 145 }
charly 4:12bfa2c1729f 146 // Button pressed?
charly 4:12bfa2c1729f 147 if (enc_pressed) {
charly 4:12bfa2c1729f 148 enc_pressed = false;
charly 4:12bfa2c1729f 149 wheel.Set(0);
charly 4:12bfa2c1729f 150 thisGet = wheel.Get();
charly 4:12bfa2c1729f 151 stepper.VACTUAL(thisGet*100*MICROSTEPS);// Set Speed to value
charly 4:12bfa2c1729f 152 printf("actspeed: %i\r\n",thisGet*100);
charly 4:12bfa2c1729f 153
charly 4:12bfa2c1729f 154 }
charly 4:12bfa2c1729f 155 } // while 1
charly 0:3f4cfbeda9d3 156 }