Library for Trinamic TMC2209 stepper modules to drive bipolar stepper motors. Ported and adapted from https://github.com/teemuatlut/TMCStepper
TMC2208Stepper.cpp
- Committer:
- charly
- Date:
- 2021-12-02
- Revision:
- 2:b34e91b54373
- Parent:
- 1:5ba0c258c4ed
File content as of revision 2:b34e91b54373:
#include "TMCStepper.h" #include "TMC_MACROS.h" //#include "SERIAL_SWITCH.h" // Protected // addr needed for TMC2209 TMC2208Stepper::TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr) : TMCStepper(RS), slave_address(addr) { HWSerial = SerialPort; defaults(); } TMC2208Stepper::TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr, uint16_t mul_pin1, uint16_t mul_pin2) : TMC2208Stepper(SerialPort, RS) { // SSwitch *SMulObj = new SSwitch(mul_pin1, mul_pin2, addr); // sswitch = SMulObj; } #if SW_CAPABLE_PLATFORM // Protected // addr needed for TMC2209 TMC2208Stepper::TMC2208Stepper(PinName SW_RX_pin, PinName SW_TX_pin, float RS, uint8_t addr) : TMCStepper(RS), RXTX_pin(SW_RX_pin == SW_TX_pin ? SW_RX_pin : 0), slave_address(addr) { BufferedSerial *SWSerialObj = new BufferedSerial(SW_TX_pin, SW_RX_pin); SWSerial = SWSerialObj; defaults(); } void TMC2208Stepper::beginSerial(uint32_t baudrate) { if (SWSerial != nullptr) { //SWSerial->begin(baudrate); //SWSerial->end(); SWSerial->set_baud(baudrate); SWSerial->set_format( /* bits */ 8, /* parity */ BufferedSerial::None, /* stop bit */ 1 ); SWSerial->set_blocking(false); //set to non-blocking read } // #if defined(ARDUINO_ARCH_AVR) // if (RXTX_pin > 0) { // digitalWrite(RXTX_pin, HIGH); // pinMode(RXTX_pin, OUTPUT); // } // #endif } #endif void TMC2208Stepper::begin() { #if SW_CAPABLE_PLATFORM beginSerial(115200); //beginSerial(9600); #endif pdn_disable(true); mstep_reg_select(true); //Wait to initialize wait_us(replyDelay*1000); } void TMC2208Stepper::defaults() { GCONF_register.i_scale_analog = 1; GCONF_register.internal_rsense = 0; // OTP GCONF_register.en_spreadcycle = 0; // OTP GCONF_register.multistep_filt = 1; // OTP IHOLD_IRUN_register.iholddelay = 1; // OTP TPOWERDOWN_register.sr = 20; CHOPCONF_register.sr = 0x10000053; PWMCONF_register.sr = 0xC10D0024; //MSLUT0_register.sr = ???; //MSLUT1_register.sr = ???; //MSLUT2_register.sr = ???; //MSLUT3_register.sr = ???; //MSLUT4_register.sr = ???; //MSLUT5_register.sr = ???; //MSLUT6_register.sr = ???; //MSLUT7_register.sr = ???; //MSLUTSTART_register.start_sin90 = 247; } void TMC2208Stepper::push() { GCONF(GCONF_register.sr); IHOLD_IRUN(IHOLD_IRUN_register.sr); SLAVECONF(SLAVECONF_register.sr); TPOWERDOWN(TPOWERDOWN_register.sr); TPWMTHRS(TPWMTHRS_register.sr); VACTUAL(VACTUAL_register.sr); CHOPCONF(CHOPCONF_register.sr); PWMCONF(PWMCONF_register.sr); } bool TMC2208Stepper::isEnabled() { return !enn() && toff(); } uint8_t TMC2208Stepper::calcCRC(uint8_t datagram[], uint8_t len) { uint8_t crc = 0; for (uint8_t i = 0; i < len; i++) { uint8_t currentByte = datagram[i]; for (uint8_t j = 0; j < 8; j++) { if ((crc >> 7) ^ (currentByte & 0x01)) { crc = (crc << 1) ^ 0x07; } else { crc = (crc << 1); } crc &= 0xff; currentByte = currentByte >> 1; } } return crc; } __attribute__((weak)) int TMC2208Stepper::available() { int out = 0; #if SW_CAPABLE_PLATFORM if (SWSerial != nullptr) { // out = SWSerial->available(); out = 1; } else #endif if (HWSerial != nullptr) { // out = HWSerial->available(); out = 1; } return out; } __attribute__((weak)) void TMC2208Stepper::preWriteCommunication() { if (HWSerial != nullptr) { // if (sswitch != nullptr) // sswitch->active(); } } __attribute__((weak)) void TMC2208Stepper::preReadCommunication() { #if SW_CAPABLE_PLATFORM if (SWSerial != nullptr) { // SWSerial->listen(); } else #endif if (HWSerial != nullptr) { // if (sswitch != nullptr) // sswitch->active(); } } __attribute__((weak)) int16_t TMC2208Stepper::serial_read() { int16_t out = 0; int16_t count = 0; #if SW_CAPABLE_PLATFORM if (SWSerial != nullptr) { // out = SWSerial->read(); count = SWSerial->read(&out, 1); // read one character // if (SWSerial->readable()) { // SWSerial->read(&out, 1); // read one character // } } else #endif if (HWSerial != nullptr) { // out = HWSerial->read(); HWSerial->read(&out, 1); // read one character } if (count >= 1) { // printf("<%02X|",out); return out; } else { return -1; } } __attribute__((weak)) uint8_t TMC2208Stepper::serial_write(const uint8_t data) { int out = 0; #if SW_CAPABLE_PLATFORM if (SWSerial != nullptr) { // printf(">%02X|",data); return SWSerial->write(&data,1); } else #endif if (HWSerial != nullptr) { return HWSerial->write(&data,1); } return out; } __attribute__((weak)) void TMC2208Stepper::postWriteCommunication() {} __attribute__((weak)) void TMC2208Stepper::postReadCommunication() { #if SW_CAPABLE_PLATFORM // if (SWSerial != nullptr) { // SWSerial->end(); // } #endif } void TMC2208Stepper::write(uint8_t addr, uint32_t regVal) { uint8_t len = 7; addr |= TMC_WRITE; uint8_t datagram[] = {TMC2208_SYNC, slave_address, addr, (uint8_t)(regVal>>24), (uint8_t)(regVal>>16), (uint8_t)(regVal>>8), (uint8_t)(regVal>>0), 0x00}; datagram[len] = calcCRC(datagram, len); preWriteCommunication(); for(uint8_t i=0; i<=len; i++) { bytesWritten += serial_write(datagram[i]); } postWriteCommunication(); //delay(replyDelay); wait_us(replyDelay*1000); } uint64_t TMC2208Stepper::_sendDatagram(uint8_t datagram[], const uint8_t len, uint16_t timeout) { // while (available() > 0) serial_read(); // Flush SWSerial->sync(); /* uint8_t dummy; while (SWSerial->readable()) { SWSerial->read(&dummy, 1); // read one character } */ /* uint8_t dummy; while (SWSerial->read(&dummy, 1) >= 0) { ; } */ #if defined(ARDUINO_ARCH_AVR) if (RXTX_pin > 0) { digitalWrite(RXTX_pin, HIGH); pinMode(RXTX_pin, OUTPUT); } #endif for(int i=0; i<=len; i++) serial_write(datagram[i]); #if defined(ARDUINO_ARCH_AVR) if (RXTX_pin > 0) { pinMode(RXTX_pin, INPUT_PULLUP); } #endif //delay(this->replyDelay); wait_us(this->replyDelay*1000); // scan for the rx frame and read it // uint32_t ms = millis(); uint32_t sync_target = (static_cast<uint32_t>(datagram[0])<<16) | 0xFF00 | datagram[2]; uint32_t sync = 0; // 64-bit time doesn't wrap for half a billion years, at least uint64_t start_ms, now; start_ms = Kernel::get_ms_count(); do { /* uint32_t ms2 = millis(); if (ms2 != ms) { // 1ms tick ms = ms2; timeout--; } if (!timeout) return 0; */ // 64-bit time doesn't wrap for half a billion years, at least now = Kernel::get_ms_count(); if (now - start_ms > timeout) return 0; int16_t res = serial_read(); if (res < 0) continue; sync <<= 8; sync |= res & 0xFF; sync &= 0xFFFFFF; } while (sync != sync_target); uint64_t out = sync; // ms = millis(); // timeout = this->abort_window; start_ms = Kernel::get_ms_count(); for(uint8_t i=0; i<5;) { /* uint32_t ms2 = millis(); if (ms2 != ms) { // 1ms tick ms = ms2; timeout--; } if (!timeout) return 0; */ now = Kernel::get_ms_count(); if (now - start_ms > timeout) return 0; int16_t res = serial_read(); if (res < 0) continue; out <<= 8; out |= res & 0xFF; i++; } #if defined(ARDUINO_ARCH_AVR) if (RXTX_pin > 0) { digitalWrite(RXTX_pin, HIGH); pinMode(RXTX_pin, OUTPUT); } #endif // while (available() > 0) serial_read(); // Flush SWSerial->sync(); return out; } uint32_t TMC2208Stepper::read(uint8_t addr) { constexpr uint8_t len = 3; addr |= TMC_READ; uint8_t datagram[] = {TMC2208_SYNC, slave_address, addr, 0x00}; datagram[len] = calcCRC(datagram, len); uint64_t out = 0x00000000UL; for (uint8_t i = 0; i < max_retries; i++) { preReadCommunication(); out = _sendDatagram(datagram, len, abort_window); postReadCommunication(); // delay(replyDelay); // wait_us(replyDelay*1000); CRCerror = false; uint8_t out_datagram[] = { static_cast<uint8_t>(out>>56), static_cast<uint8_t>(out>>48), static_cast<uint8_t>(out>>40), static_cast<uint8_t>(out>>32), static_cast<uint8_t>(out>>24), static_cast<uint8_t>(out>>16), static_cast<uint8_t>(out>> 8), static_cast<uint8_t>(out>> 0) }; uint8_t crc = calcCRC(out_datagram, 7); if ((crc != static_cast<uint8_t>(out)) || crc == 0 ) { CRCerror = true; out = 0; } else { break; } } return out>>8; } uint8_t TMC2208Stepper::IFCNT() { return read(IFCNT_t::address); } void TMC2208Stepper::SLAVECONF(uint16_t input) { SLAVECONF_register.sr = input&0xF00; write(SLAVECONF_register.address, SLAVECONF_register.sr); } uint16_t TMC2208Stepper::SLAVECONF() { return SLAVECONF_register.sr; } void TMC2208Stepper::senddelay(uint8_t B) { SLAVECONF_register.senddelay = B; write(SLAVECONF_register.address, SLAVECONF_register.sr); } uint8_t TMC2208Stepper::senddelay() { return SLAVECONF_register.senddelay; } void TMC2208Stepper::OTP_PROG(uint16_t input) { write(OTP_PROG_t::address, input); } uint32_t TMC2208Stepper::OTP_READ() { return read(OTP_READ_t::address); } uint32_t TMC2208Stepper::IOIN() { return read(TMC2208_n::IOIN_t::address); } bool TMC2208Stepper::enn() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.enn; } bool TMC2208Stepper::ms1() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms1; } bool TMC2208Stepper::ms2() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms2; } bool TMC2208Stepper::diag() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.diag; } bool TMC2208Stepper::pdn_uart() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.pdn_uart; } bool TMC2208Stepper::step() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.step; } bool TMC2208Stepper::sel_a() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.sel_a; } bool TMC2208Stepper::dir() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.dir; } uint8_t TMC2208Stepper::version() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.version; } /* uint32_t TMC2224Stepper::IOIN() { return read(TMC2224_n::IOIN_t::address); } bool TMC2224Stepper::enn() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.enn; } bool TMC2224Stepper::ms1() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms1; } bool TMC2224Stepper::ms2() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms2; } bool TMC2224Stepper::pdn_uart() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.pdn_uart; } bool TMC2224Stepper::spread() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.spread; } bool TMC2224Stepper::step() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.step; } bool TMC2224Stepper::sel_a() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.sel_a; } bool TMC2224Stepper::dir() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.dir; } uint8_t TMC2224Stepper::version() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.version; } */ uint16_t TMC2208Stepper::FACTORY_CONF() { return read(FACTORY_CONF_register.address); } void TMC2208Stepper::FACTORY_CONF(uint16_t input) { FACTORY_CONF_register.sr = input; write(FACTORY_CONF_register.address, FACTORY_CONF_register.sr); } void TMC2208Stepper::fclktrim(uint8_t B){ FACTORY_CONF_register.fclktrim = B; write(FACTORY_CONF_register.address, FACTORY_CONF_register.sr); } void TMC2208Stepper::ottrim(uint8_t B) { FACTORY_CONF_register.ottrim = B; write(FACTORY_CONF_register.address, FACTORY_CONF_register.sr); } uint8_t TMC2208Stepper::fclktrim() { FACTORY_CONF_t r{0}; r.sr = FACTORY_CONF(); return r.fclktrim; } uint8_t TMC2208Stepper::ottrim() { FACTORY_CONF_t r{0}; r.sr = FACTORY_CONF(); return r.ottrim; } void TMC2208Stepper::VACTUAL(uint32_t input) { VACTUAL_register.sr = input; write(VACTUAL_register.address, VACTUAL_register.sr); } uint32_t TMC2208Stepper::VACTUAL() { return VACTUAL_register.sr; } uint32_t TMC2208Stepper::PWM_SCALE() { return read(TMC2208_n::PWM_SCALE_t::address); } uint8_t TMC2208Stepper::pwm_scale_sum() { TMC2208_n::PWM_SCALE_t r{0}; r.sr = PWM_SCALE(); return r.pwm_scale_sum; } int16_t TMC2208Stepper::pwm_scale_auto() { TMC2208_n::PWM_SCALE_t r{0}; r.sr = PWM_SCALE(); return r.pwm_scale_auto; // Not two's complement? 9nth bit determines sign /* uint32_t d = PWM_SCALE(); int16_t response = (d>>PWM_SCALE_AUTO_bp)&0xFF; if (((d&PWM_SCALE_AUTO_bm) >> 24) & 0x1) return -response; else return response; */ } // R: PWM_AUTO uint32_t TMC2208Stepper::PWM_AUTO() { return read(PWM_AUTO_t::address); } uint8_t TMC2208Stepper::pwm_ofs_auto() { PWM_AUTO_t r{0}; r.sr = PWM_AUTO(); return r.pwm_ofs_auto; } uint8_t TMC2208Stepper::pwm_grad_auto() { PWM_AUTO_t r{0}; r.sr = PWM_AUTO(); return r.pwm_grad_auto; }