![](/media/cache/profiles/15ae3b9d6286f1b2a489ea4f3f4abaed.50x50_q85.jpg)
Testprogram for TMC2209-Library. Uses Speed-Control via VACTUAL instead of Step/Dir
Dependencies: TMCStepper mRotaryEncoder-os
main.cpp
- Committer:
- charly
- Date:
- 2021-02-04
- Revision:
- 1:60419aa0c030
- Parent:
- 0:3f4cfbeda9d3
- Child:
- 2:94c5b3f09463
File content as of revision 1:60419aa0c030:
/* mbed Microcontroller Library * Copyright (c) 2019 ARM Limited * SPDX-License-Identifier: Apache-2.0 */ #include "mbed.h" #include "platform/mbed_thread.h" DigitalOut ledDir(LED2); //Virtual serial port over USB with 15200 baud 8N1 static BufferedSerial host(USBTX, USBRX,115200); // apply number of steps, direction, speed and // a linear acceleration/deceleration to a Stepper Motor Controller #include "TMCStepper.h" // MOTOR Steps per Revolution ( 1/8 Microsteps, 200Steps per Rev / 1.8 degrees per FullStep) #define MSPR 1600 // Gear Ratio #define GR 288 #define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2 #define R_SENSE 0.11f // Match to your driver #define MICROSTEPS 32 //RX, TX, RS, Addr TMC2209Stepper stepper(p14, p13, R_SENSE, DRIVER_ADDRESS); // Assumes little endian void printBits(size_t const size, void const * const ptr) { unsigned char *b = (unsigned char*) ptr; unsigned char byte; int i, j; // puts("#"); for (i = size-1; i >= 0; i--) { for (j = 7; j >= 0; j--) { byte = (b[i] >> j) & 1; printf("%u", byte); } } // puts("#"); } int main() { printf("\r\nConnected to mbed\r\n"); stepper.begin(); // UART: Init SW UART (if selected) with default baudrate stepper.toff(3); // Enables driver in software - 3, 5 ???? stepper.rms_current(800); // Set motor RMS current in mA // 1110, 800 stepper.microsteps(MICROSTEPS); // Set microsteps to 1:Fullstep ... 256: 1/256th stepper.en_spreadCycle(true); // Toggle spreadCycle on TMC2208/2209/2224: default false, true: much faster!!!! stepper.pwm_autoscale(true); // Needed for stealthChop printf("TMC-Version: %02X\r\n",stepper.version()); bool shaft = false; //direction CW or CCW while(1) { // printf("TSTEP(): %i\r\n", stepper.TSTEP()); uint32_t status = stepper.DRV_STATUS(); printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n"); uint32_t ioin = stepper.IOIN(); printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n"); // uint32_t otp = stepper.OTP_READ(); // printf("OTP_READ(): ");printBits(sizeof(otp),&otp);printf("\r\n"); printf("VACTUAL(): %zu \r\n", stepper.VACTUAL()); // increase uint32_t maxspeed = 3000; //max 3400 or 3000 uint32_t actspeed = 0; while (actspeed < maxspeed) { actspeed += 200; if (actspeed > maxspeed) { actspeed = maxspeed; } //printf("actspeed: %i",actspeed); stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value ThisThread::sleep_for(25ms); //wait } printf("VACTUAL(): %zu \r\n", stepper.VACTUAL()); ThisThread::sleep_for(60s); // decrease maxspeed = 0; while (actspeed > maxspeed) { actspeed -= 200; if (actspeed < 0) { actspeed = 0; } //printf("actspeed: %i",actspeed); stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value ThisThread::sleep_for(25ms); //wait } // stepper.VACTUAL(400*MICROSTEPS);// Set Speed to value ThisThread::sleep_for(5s); //wait // inverse direction shaft = !shaft; stepper.shaft(shaft); printf("...\r\n"); } }