Diff: main.cpp

Revision:

0:3f4cfbeda9d3

Child:

1:60419aa0c030

diff -r 000000000000 -r 3f4cfbeda9d3 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Feb 04 19:46:56 2021 +0000
@@ -0,0 +1,93 @@
+/* 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 64
+
+//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(5);                  // Enables driver in software
+    stepper.rms_current(600);         // Set motor RMS current in mA
+    stepper.microsteps(MICROSTEPS);   // Set microsteps to 1:Fullstep ... 256: 1/256th
+    stepper.en_spreadCycle(false);    // Toggle spreadCycle on TMC2208/2209/2224
+    stepper.pwm_autoscale(true);      // Needed for stealthChop
+    printf("TMC-Version: %02X\r\n",stepper.version());
+    
+    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
+        int maxspeed = 1600;
+        int actspeed = 0;
+        while (actspeed < maxspeed) {
+            actspeed += 200;
+            printf("actspeed: %i",actspeed);
+            stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value
+            ThisThread::sleep_for(20ms); //wait
+        }
+        printf("VACTUAL(): %zu \r\n", stepper.VACTUAL());
+        ThisThread::sleep_for(10s); 
+        // decrease
+        maxspeed = 0;
+        while (actspeed > maxspeed) {
+            actspeed -= 200;
+            printf("actspeed: %i",actspeed);
+            stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value
+            ThisThread::sleep_for(20ms); //wait
+        }
+*/
+        stepper.VACTUAL(400*MICROSTEPS);// Set Speed to value
+        ThisThread::sleep_for(5s); //wait 
+        printf("loop...\r\n");
+   }
+ }
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