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@2:94c5b3f09463, 2021-02-06 (annotated)

Committer:
charly
Date:
Sat Feb 06 20:00:31 2021 +0000
Revision:
2:94c5b3f09463
Parent:
1:60419aa0c030
Child:
3:209a9c414f54
Removed unwanted files. Cleanup.

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 2:94c5b3f09463 4
charly 2:94c5b3f09463 5 /*
charly 2:94c5b3f09463 6 Testprogram for TMCStepper-Library
charly 2:94c5b3f09463 7 TMCStepper based on https://github.com/teemuatlut/TMCStepper for Arduino
charly 2:94c5b3f09463 8 by https://github.com/teemuatlut
charly 2:94c5b3f09463 9 +++++
charly 2:94c5b3f09463 10 Tested with https://github.com/bigtreetech/BIGTREETECH-TMC2209-V1.2
charly 2:94c5b3f09463 11 */
charly 0:3f4cfbeda9d3 12
charly 0:3f4cfbeda9d3 13
charly 0:3f4cfbeda9d3 14 DigitalOut ledDir(LED2);
charly 0:3f4cfbeda9d3 15 //Virtual serial port over USB with 15200 baud 8N1
charly 0:3f4cfbeda9d3 16 static BufferedSerial host(USBTX, USBRX,115200);
charly 0:3f4cfbeda9d3 17
charly 2:94c5b3f09463 18 // hardware parameters:
charly 0:3f4cfbeda9d3 19 // MOTOR Steps per Revolution ( 1/8 Microsteps, 200Steps per Rev / 1.8 degrees per FullStep)
charly 0:3f4cfbeda9d3 20 #define MSPR 1600
charly 0:3f4cfbeda9d3 21 // Gear Ratio
charly 0:3f4cfbeda9d3 22 #define GR 288
charly 0:3f4cfbeda9d3 23
charly 0:3f4cfbeda9d3 24 #define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2
charly 2:94c5b3f09463 25 #define R_SENSE 0.11f // R-Sense in OHM .Match to your driver
charly 2:94c5b3f09463 26 #define MICROSTEPS 128 // # of microsteps
charly 2:94c5b3f09463 27 #define RMSCURRENT 500 // RMS current of Stepper Coil in mA
charly 0:3f4cfbeda9d3 28
charly 2:94c5b3f09463 29 // A TMCStepper-object with UART and given address and R-Sense
charly 0:3f4cfbeda9d3 30 //RX, TX, RS, Addr
charly 0:3f4cfbeda9d3 31 TMC2209Stepper stepper(p14, p13, R_SENSE, DRIVER_ADDRESS);
charly 0:3f4cfbeda9d3 32
charly 0:3f4cfbeda9d3 33 // Assumes little endian
charly 0:3f4cfbeda9d3 34 void printBits(size_t const size, void const * const ptr)
charly 0:3f4cfbeda9d3 35 {
charly 0:3f4cfbeda9d3 36 unsigned char *b = (unsigned char*) ptr;
charly 0:3f4cfbeda9d3 37 unsigned char byte;
charly 0:3f4cfbeda9d3 38 int i, j;
charly 0:3f4cfbeda9d3 39 // puts("#");
charly 0:3f4cfbeda9d3 40 for (i = size-1; i >= 0; i--) {
charly 0:3f4cfbeda9d3 41 for (j = 7; j >= 0; j--) {
charly 0:3f4cfbeda9d3 42 byte = (b[i] >> j) & 1;
charly 0:3f4cfbeda9d3 43 printf("%u", byte);
charly 0:3f4cfbeda9d3 44 }
charly 0:3f4cfbeda9d3 45 }
charly 0:3f4cfbeda9d3 46 // puts("#");
charly 0:3f4cfbeda9d3 47 }
charly 0:3f4cfbeda9d3 48
charly 0:3f4cfbeda9d3 49 int main()
charly 0:3f4cfbeda9d3 50 {
charly 0:3f4cfbeda9d3 51 printf("\r\nConnected to mbed\r\n");
charly 2:94c5b3f09463 52 stepper.begin(); // UART: Init SW UART (if selected) with default baudrate
charly 2:94c5b3f09463 53 stepper.toff(3); // Enables driver in software - 3, 5 ????
charly 2:94c5b3f09463 54 stepper.rms_current(RMSCURRENT); // Set motor RMS current in mA / min 500 for 24V/speed:3000
charly 1:60419aa0c030 55 // 1110, 800
charly 0:3f4cfbeda9d3 56 stepper.microsteps(MICROSTEPS); // Set microsteps to 1:Fullstep ... 256: 1/256th
charly 1:60419aa0c030 57 stepper.en_spreadCycle(true); // Toggle spreadCycle on TMC2208/2209/2224: default false, true: much faster!!!!
charly 0:3f4cfbeda9d3 58 stepper.pwm_autoscale(true); // Needed for stealthChop
charly 0:3f4cfbeda9d3 59 printf("TMC-Version: %02X\r\n",stepper.version());
charly 0:3f4cfbeda9d3 60
charly 1:60419aa0c030 61 bool shaft = false; //direction CW or CCW
charly 1:60419aa0c030 62
charly 0:3f4cfbeda9d3 63 while(1) {
charly 0:3f4cfbeda9d3 64 // printf("TSTEP(): %i\r\n", stepper.TSTEP());
charly 0:3f4cfbeda9d3 65 uint32_t status = stepper.DRV_STATUS();
charly 0:3f4cfbeda9d3 66 printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
charly 0:3f4cfbeda9d3 67 uint32_t ioin = stepper.IOIN();
charly 0:3f4cfbeda9d3 68 printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
charly 0:3f4cfbeda9d3 69 // uint32_t otp = stepper.OTP_READ();
charly 0:3f4cfbeda9d3 70 // printf("OTP_READ(): ");printBits(sizeof(otp),&otp);printf("\r\n");
charly 0:3f4cfbeda9d3 71
charly 1:60419aa0c030 72 printf("VACTUAL(): %zu \r\n", stepper.VACTUAL());
charly 0:3f4cfbeda9d3 73 // increase
charly 1:60419aa0c030 74 uint32_t maxspeed = 3000; //max 3400 or 3000
charly 1:60419aa0c030 75 uint32_t actspeed = 0;
charly 0:3f4cfbeda9d3 76 while (actspeed < maxspeed) {
charly 0:3f4cfbeda9d3 77 actspeed += 200;
charly 1:60419aa0c030 78 if (actspeed > maxspeed) {
charly 1:60419aa0c030 79 actspeed = maxspeed;
charly 1:60419aa0c030 80 }
charly 1:60419aa0c030 81 //printf("actspeed: %i",actspeed);
charly 0:3f4cfbeda9d3 82 stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value
charly 1:60419aa0c030 83 ThisThread::sleep_for(25ms); //wait
charly 0:3f4cfbeda9d3 84 }
charly 0:3f4cfbeda9d3 85 printf("VACTUAL(): %zu \r\n", stepper.VACTUAL());
charly 1:60419aa0c030 86 ThisThread::sleep_for(60s);
charly 0:3f4cfbeda9d3 87 // decrease
charly 0:3f4cfbeda9d3 88 maxspeed = 0;
charly 0:3f4cfbeda9d3 89 while (actspeed > maxspeed) {
charly 0:3f4cfbeda9d3 90 actspeed -= 200;
charly 1:60419aa0c030 91 if (actspeed < 0) {
charly 1:60419aa0c030 92 actspeed = 0;
charly 1:60419aa0c030 93 }
charly 1:60419aa0c030 94 //printf("actspeed: %i",actspeed);
charly 0:3f4cfbeda9d3 95 stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value
charly 1:60419aa0c030 96 ThisThread::sleep_for(25ms); //wait
charly 0:3f4cfbeda9d3 97 }
charly 1:60419aa0c030 98
charly 1:60419aa0c030 99 // stepper.VACTUAL(400*MICROSTEPS);// Set Speed to value
charly 0:3f4cfbeda9d3 100 ThisThread::sleep_for(5s); //wait
charly 1:60419aa0c030 101 // inverse direction
charly 1:60419aa0c030 102 shaft = !shaft;
charly 1:60419aa0c030 103 stepper.shaft(shaft);
charly 2:94c5b3f09463 104 // Read Interace-Count
charly 2:94c5b3f09463 105 printf("IFCNT(): %zu \r\n",stepper.IFCNT());
charly 1:60419aa0c030 106 printf("...\r\n");
charly 0:3f4cfbeda9d3 107 }
charly 0:3f4cfbeda9d3 108 }