main.cpp

00001 #include "mbed.h"
00002 #include "platform/mbed_thread.h"
00003 #include "TMCStepper.h"
00004 #include "mRotaryEncoder.h"
00005 
00006 /*
00007  Testprogram for TMCStepper-Library
00008  TMCStepper based on https://github.com/teemuatlut/TMCStepper for Arduino
00009  by https://github.com/teemuatlut
00010  +++++
00011  Tested with https://github.com/bigtreetech/BIGTREETECH-TMC2209-V1.2
00012 */
00013 
00014 
00015 DigitalOut ledCW(LED1);  // Show rotation clockwise // Gren LED LD3
00016 DigitalOut ledCCW(NC); // Show rotation counterclockwise // no more LEDs on L432
00017 
00018 //Virtual serial port over USB with 15200 baud 8N1
00019 static BufferedSerial host(USBTX, USBRX,115200);
00020 
00021 //mRotaryEncoder(PinName pinA, PinName pinB, PinName pinSW, PinMode pullMode=PullUp, int debounceTime_us=1000)
00022 mRotaryEncoder  wheel(D2, D3, D6,PullUp,3000); // default 1500
00023   //D7, D8 not available on L432KC with default solder bridges
00024 
00025 // hardware parameters:
00026 // MOTOR Steps per Revolution ( 1/8 Microsteps, 200Steps per Rev / 1.8 degrees per FullStep)
00027 #define MSPR 1600
00028 // Gear Ratio
00029 #define GR 288
00030 
00031 #define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2
00032 #define R_SENSE 0.11f   // R-Sense in OHM. Match to your driver
00033 #define MICROSTEPS 256  // # of microsteps
00034 #define RMSCURRENT 800  // RMS current of Stepper Coil in mA
00035 #define MAXSPEED 5500   // Maximaum speed (5500 with RMS800 @12V/0.6Amax)
00036 
00037 // A TMCStepper-object with UART and given address and R-Sense
00038 //RX, TX, RS, Addr 
00039 TMC2209Stepper stepper(D0, D1, R_SENSE, DRIVER_ADDRESS);
00040 
00041 InterruptIn diag(D12);
00042 DigitalOut enn(D11);
00043 
00044 volatile bool enc_pressed = false;      // Button of rotaryencoder was pressed
00045 volatile bool enc_rotated = false;      // rotary encoder was totaded left or right
00046 volatile bool enc_action  = false;      // any change happened
00047 volatile bool diag_event  = false;      // DIAG-Pin of TMC
00048 int lastGet;
00049 int thisGet;
00050 
00051 //interrup-Handler for button on rotary-encoder
00052 void trigger_sw() {
00053     enc_pressed = true;               // just set the flag, rest is done outside isr
00054 }
00055 
00056 //interrup-Handler for rotary-encoder rotation
00057 void trigger_rotated() {
00058     enc_rotated = true;               // just set the flag, rest is done outside isr
00059 }
00060 
00061 //interrup-Handler for TMC2209-DIAG-Pin
00062 void trigger_diag() {
00063     diag_event = true;               // just set the flag, rest is done outside isr
00064 }
00065 
00066 // Assumes little endian
00067 void printBits(size_t const size, void const * const ptr)
00068 {
00069     unsigned char *b = (unsigned char*) ptr;
00070     unsigned char byte;
00071     int i, j;
00072 //    puts("#");
00073     for (i = size-1; i >= 0; i--) {
00074         for (j = 7; j >= 0; j--) {
00075             byte = (b[i] >> j) & 1;
00076             printf("%u", byte);
00077         }
00078     }
00079 //    puts("#");
00080 }
00081  
00082  int main()
00083  {
00084     printf("\r\nConnected to mbed\r\n");
00085     printf("This is Mbed OS %d.%d.%d.\n", MBED_MAJOR_VERSION, MBED_MINOR_VERSION, MBED_PATCH_VERSION);
00086     //Intitiallize RotaryEncoder
00087     // call trigger_sw() when button of rotary-encoder is pressed
00088     wheel.attachSW(&trigger_sw);
00089     // call trigger_rot() when the shaft is rotaded left or right
00090     wheel.attachROT(&trigger_rotated);
00091     lastGet = 0;
00092     // set enc_rotated, so startup
00093     enc_rotated = true;
00094     enc_action = true;
00095     ledCW = 1;
00096     ledCCW = 1;
00097     
00098     // disable Driver
00099     enn=1;
00100     // wait for Hhardware to settle
00101     ThisThread::sleep_for(100ms);
00102         
00103     // Initialize Stepper
00104     printf("connecting to TMC-Module...\r\n");
00105     stepper.begin();                    // UART: Init SW UART (if selected) with default baudrate
00106     
00107     //read and check version - must be 0x21
00108     uint8_t tmc_version = stepper.version();
00109     printf("TMC-Version: %02X\r\n",tmc_version);
00110     if (tmc_version != 0x21) {
00111             printf("Wrong TMC-Version(not 0x21) or communication error!! STOPPING!!!\r\n");
00112             if (stepper.CRCerror) {
00113                 printf("CRC-Error!!!\r\n");
00114             }
00115             while (1) {
00116                 ledCW = 1;
00117                 ledCCW = 0;
00118                 ThisThread::sleep_for(50ms);
00119                 ledCW = 0;
00120                 ledCCW = 1;
00121                 ThisThread::sleep_for(50ms);
00122             };
00123     }
00124     
00125     stepper.push();                     // initialize all registers??? required?
00126     
00127     stepper.toff(3);                    // Enables driver in software - 3, 5 ????
00128     stepper.rms_current(RMSCURRENT);    // Set motor RMS current in mA / min 500 for 24V/speed:3000
00129                                         // 1110, 800
00130                                         // working: 800 12V/0,6Amax,  Speed up to 5200=4U/min
00131                                         
00132     stepper.microsteps(MICROSTEPS);   // Set microsteps to 1:Fullstep ... 256: 1/256th
00133     stepper.en_spreadCycle(true);     // Toggle spreadCycle on TMC2208/2209/2224: default false, true: much faster!!!!
00134     stepper.pwm_autoscale(true);      // Needed for stealthChop
00135     
00136     // enable driver
00137     enn = 0;
00138     
00139     uint8_t gstat = stepper.GSTAT();
00140     printf("GSTAT(): "); printBits(sizeof(gstat),&gstat);printf("\r\n");
00141     
00142     uint32_t gconf = stepper.GCONF();
00143     printf("GCONF(): "); printBits(sizeof(gconf),&gconf);printf("\r\n");
00144     
00145     uint32_t status = stepper.DRV_STATUS();
00146     printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
00147     
00148     uint32_t ioin = stepper.IOIN();        
00149     printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
00150     
00151     uint8_t ihold = stepper.ihold();
00152     printf("IHOLD(): "); printBits(sizeof(ihold),&ihold);printf("\r\n");
00153     
00154     uint8_t irun = stepper.irun();
00155     printf("IRUN(): "); printBits(sizeof(irun),&irun);printf("\r\n");
00156     
00157     uint8_t iholddelay = stepper.iholddelay();
00158     printf("IHOLDDELAY(): "); printBits(sizeof(iholddelay),&iholddelay);printf("\r\n");
00159     
00160     // do a peep by setting vactual to a too high speed
00161     
00162     //stepper.VACTUAL(50000*MICROSTEPS);
00163     //ThisThread::sleep_for(1s);
00164     
00165     // initialize Automatic tunig (Chap 6.1)
00166     printf("Start automatic tunig Chap6.1 .....");
00167     stepper.VACTUAL(1);
00168     stepper.VACTUAL(0);
00169     ThisThread::sleep_for(100ms);
00170     stepper.VACTUAL(500*MICROSTEPS);
00171     ThisThread::sleep_for(2s);
00172     stepper.VACTUAL(0);
00173     printf("done\r\n");
00174     
00175     diag.rise(&trigger_diag);
00176     
00177     //bool shaft = false;  //direction CW or CCW
00178     
00179     while(1) {
00180 /*  Spped-UP/Down-Cycles      
00181 //        printf("TSTEP(): %i\r\n", stepper.TSTEP());
00182         uint32_t status = stepper.DRV_STATUS();
00183         printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
00184         uint32_t ioin = stepper.IOIN();        
00185         printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
00186 //        uint32_t otp = stepper.OTP_READ();
00187 //        printf("OTP_READ(): ");printBits(sizeof(otp),&otp);printf("\r\n");
00188       
00189         printf("VACTUAL(): %zu \r\n", stepper.VACTUAL());
00190         // increase
00191         uint32_t maxspeed = 3000; //max 3400 or 3000
00192         uint32_t actspeed = 0;
00193         while (actspeed < maxspeed) {
00194             actspeed += 200;
00195             if (actspeed > maxspeed) {
00196                 actspeed = maxspeed;
00197             }
00198             printf("actspeed: %i",actspeed);
00199             stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value
00200             ThisThread::sleep_for(25ms); //wait
00201         }
00202         printf("VACTUAL(): %zu \r\n", stepper.VACTUAL());
00203         ThisThread::sleep_for(5s); 
00204         // decrease
00205         maxspeed = 0;
00206         while (actspeed > maxspeed) {
00207             actspeed -= 200;
00208             if (actspeed < 0) {
00209                 actspeed = 0;
00210             }
00211             printf("actspeed: %i",actspeed);
00212             stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value
00213             ThisThread::sleep_for(25ms); //wait
00214         }
00215 
00216 //        stepper.VACTUAL(400*MICROSTEPS);// Set Speed to value
00217         ThisThread::sleep_for(5s); //wait 
00218         // inverse direction
00219         shaft = !shaft;
00220         stepper.shaft(shaft);
00221         // Read Interace-Count
00222         printf("IFCNT(): %zu \r\n",stepper.IFCNT());
00223         printf("...\r\n");
00224 */
00225 ////// Control motor-speed by rotary-encoder
00226     
00227     // DIAG-PIN showed Error-Condition?
00228     if (diag_event) {
00229         diag_event = false;
00230         printf("DIAG occured!\r\n");
00231         gstat = stepper.GSTAT();
00232         printf("GSTAT(): "); printBits(sizeof(gstat),&gstat);printf("\r\n");
00233         status = stepper.DRV_STATUS();
00234         printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
00235         //safty turn off friver
00236         printf("Shutting Down Motordriver...\r\n");
00237         enn=1;
00238         stepper.toff(0);
00239         status = stepper.DRV_STATUS();
00240         printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
00241         ioin = stepper.IOIN();        
00242         printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
00243         ihold = stepper.ihold();
00244         printf("IHOLD(): "); printBits(sizeof(ihold),&ihold);printf("\r\n");
00245         irun = stepper.irun();
00246         printf("IRUN(): "); printBits(sizeof(irun),&irun);printf("\r\n");
00247         iholddelay = stepper.iholddelay();
00248         printf("IHOLDDELAY(): "); printBits(sizeof(iholddelay),&iholddelay);printf("\r\n");
00249         printf("stopping programm - manual RESET required!!!!!!\r\n");
00250         while (1) {
00251             ledCW = 1;
00252             ledCCW = 1;
00253             ThisThread::sleep_for(200ms);
00254             ledCW = 0;
00255             ledCCW = 0;
00256             ThisThread::sleep_for(200ms);
00257         };
00258         
00259     }
00260     
00261     // shaft has been rotated?
00262     if (enc_rotated) {
00263         enc_rotated = false;
00264         enc_action = true;
00265         thisGet = wheel.Get();
00266         if (thisGet*100 > MAXSPEED) { //on upper limit?
00267             wheel.Set( MAXSPEED/100);
00268             thisGet = wheel.Get();
00269         }
00270         if (thisGet*100 < MAXSPEED*(-1)) { //on lower limit?
00271             wheel.Set( MAXSPEED*(-1)/100);
00272             thisGet = wheel.Get();
00273         } 
00274         stepper.VACTUAL(thisGet*100*MICROSTEPS);// Set Speed to value
00275         printf("actspeed: %i\r\n",thisGet*100);
00276         
00277     }
00278     // Button pressed?
00279     if (enc_pressed) {
00280         enc_pressed = false;
00281         enc_action = true;
00282         wheel.Set(0);
00283         thisGet = wheel.Get();
00284         stepper.VACTUAL(thisGet*100*MICROSTEPS);// Set Speed to value
00285         printf("actspeed: %i\r\n",thisGet*100);
00286         
00287         gstat = stepper.GSTAT();
00288         printf("GSTAT(): "); printBits(sizeof(gstat),&gstat);printf("\r\n");
00289         gconf = stepper.GCONF();
00290         printf("GCONF(): "); printBits(sizeof(gconf),&gconf);printf("\r\n");
00291         status = stepper.DRV_STATUS();
00292         printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
00293         ioin = stepper.IOIN();        
00294         printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
00295         ihold = stepper.ihold();
00296         printf("IHOLD(): "); printBits(sizeof(ihold),&ihold);printf("\r\n");
00297         irun = stepper.irun();
00298         printf("IRUN(): "); printBits(sizeof(irun),&irun);printf("\r\n");
00299         iholddelay = stepper.iholddelay();
00300         printf("IHOLDDELAY(): "); printBits(sizeof(iholddelay),&iholddelay);printf("\r\n");
00301 
00302     }        
00303     // anything changed?
00304     if (enc_action) {
00305         enc_action = false;
00306         // show direction of motor on leds
00307         if (thisGet > 0) {
00308             ledCW = 1;
00309             ledCCW= 0;
00310         }
00311         if (thisGet < 0) {
00312             ledCW = 0;
00313             ledCCW= 1;
00314         }
00315         if (thisGet == 0) {
00316             ledCW = 1;
00317             ledCCW= 1;
00318         }
00319     }
00320    } // while 1
00321  }