Diff: main.cpp

Revision:

8:f44d70665051

Parent:

7:51cb60bf3e2d

Child:

9:babbfb61d347

--- a/main.cpp	Mon Mar 22 21:38:03 2021 +0000
+++ b/main.cpp	Thu Apr 22 18:11:49 2021 +0000
@@ -12,7 +12,7 @@
 */
 
 
-DigitalOut ledCW(LED1);  // Show totation clockwise
+DigitalOut ledCW(LED1);  // Show rotation clockwise
 DigitalOut ledCCW(LED2); // Show rotation counterclockwise
 
 //Virtual serial port over USB with 15200 baud 8N1
@@ -29,15 +29,16 @@
 
 #define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2
 #define R_SENSE 0.11f   // R-Sense in OHM. Match to your driver
-#define MICROSTEPS 128  // # of microsteps
-#define RMSCURRENT 800  // RMS current of Stepper Coil in mA
-#define MAXSPEED 5000   // Maximaum speed (5000 with RMS800 @12V/06Amax)
+#define MICROSTEPS 256  // # of microsteps
+#define RMSCURRENT 1000  // RMS current of Stepper Coil in mA
+#define MAXSPEED 5000   // Maximaum speed (5000 with RMS800 @12V/0.6Amax)
 
 // A TMCStepper-object with UART and given address and R-Sense
 //RX, TX, RS, Addr 
 TMC2209Stepper stepper(p14, p13, R_SENSE, DRIVER_ADDRESS);
 
 InterruptIn diag(p21);
+DigitalOut enn(p22);
 
 volatile bool enc_pressed = false;      // Button of rotaryencoder was pressed
 volatile bool enc_rotated = false;      // rotary encoder was totaded left or right
@@ -93,6 +94,8 @@
     ledCW = 1;
     ledCCW = 1;
     
+    // disable Driver
+    enn=1;
         
     // Initialize Stepper
     printf("connecting to TMC-Module...\r\n");
@@ -109,15 +112,44 @@
     stepper.en_spreadCycle(true);     // Toggle spreadCycle on TMC2208/2209/2224: default false, true: much faster!!!!
     stepper.pwm_autoscale(true);      // Needed for stealthChop
     
+    // enable driver
+    enn = 0;
+    
     uint8_t gstat = stepper.GSTAT();
     printf("GSTAT(): "); printBits(sizeof(gstat),&gstat);printf("\r\n");
     
+    uint32_t gconf = stepper.GCONF();
+    printf("GCONF(): "); printBits(sizeof(gconf),&gconf);printf("\r\n");
+    
     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");
     
+    uint8_t ihold = stepper.ihold();
+    printf("IHOLD(): "); printBits(sizeof(ihold),&ihold);printf("\r\n");
+    
+    uint8_t irun = stepper.irun();
+    printf("IRUN(): "); printBits(sizeof(irun),&irun);printf("\r\n");
+    
+    uint8_t iholddelay = stepper.iholddelay();
+    printf("IHOLDDELAY(): "); printBits(sizeof(iholddelay),&iholddelay);printf("\r\n");
+    
+    // do a peep by setting vactual to a too high speed
+    
+    stepper.VACTUAL(50000*MICROSTEPS);
+    ThisThread::sleep_for(1s);
+    
+    // initialize Automatic tunig (Chap 6.1)
+    stepper.VACTUAL(1);
+    stepper.VACTUAL(0);
+    ThisThread::sleep_for(100ms);
+    stepper.VACTUAL(500*MICROSTEPS);
+    ThisThread::sleep_for(2s);
+    stepper.VACTUAL(0);
+    
+    
     diag.rise(&trigger_diag);
     
     //bool shaft = false;  //direction CW or CCW
@@ -180,13 +212,27 @@
         printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
         //safty turn off friver
         printf("Shutting Down Motordriver...\r\n");
+        enn=1;
         stepper.toff(0);
         status = stepper.DRV_STATUS();
         printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
         ioin = stepper.IOIN();        
         printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
+        ihold = stepper.ihold();
+        printf("IHOLD(): "); printBits(sizeof(ihold),&ihold);printf("\r\n");
+        irun = stepper.irun();
+        printf("IRUN(): "); printBits(sizeof(irun),&irun);printf("\r\n");
+        iholddelay = stepper.iholddelay();
+        printf("IHOLDDELAY(): "); printBits(sizeof(iholddelay),&iholddelay);printf("\r\n");
         printf("stopping programm - manual RESET required!!!!!!\r\n");
-        while (1) {};
+        while (1) {
+            ledCW = 1;
+            ledCCW = 1;
+            ThisThread::sleep_for(200ms);
+            ledCW = 0;
+            ledCCW = 0;
+            ThisThread::sleep_for(200ms);
+        };
         
     }
     
@@ -218,10 +264,18 @@
         
         gstat = stepper.GSTAT();
         printf("GSTAT(): "); printBits(sizeof(gstat),&gstat);printf("\r\n");
+        gconf = stepper.GCONF();
+        printf("GCONF(): "); printBits(sizeof(gconf),&gconf);printf("\r\n");
         status = stepper.DRV_STATUS();
         printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
         ioin = stepper.IOIN();        
         printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
+        ihold = stepper.ihold();
+        printf("IHOLD(): "); printBits(sizeof(ihold),&ihold);printf("\r\n");
+        irun = stepper.irun();
+        printf("IRUN(): "); printBits(sizeof(irun),&irun);printf("\r\n");
+        iholddelay = stepper.iholddelay();
+        printf("IHOLDDELAY(): "); printBits(sizeof(iholddelay),&iholddelay);printf("\r\n");
 
     }        
     // anything changed?