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Create moveByUART.ino #258

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197 changes: 197 additions & 0 deletions examples/moveByUART/moveByUART.ino
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/**
* Author Konstantin Kalinskiy
* Initializes the library and runs the stepper
* motor only by UART (don't need to connect step dir pins)
* I test this setup on arduino nano
* i use potenciometr to change speed and direction
* and i use button to run\stop motor
*/
#include <TMCStepper.h>
// #include <CaptureTimer.h>

#define FWD_BUTTON_PIN 8

#define KNOB_PIN A0 // connect potenciometr
#define EN_PIN 5 // Enable
// #define DIR_PIN 6 // Direction (not need for UART control)
// #define STEP_PIN 7 // Step (not need for UART control)
#define INDEX_PIN 2 // INDEX pin on TMC driver. Must connect to arduino interrupt pin
// #define CS_PIN 42 // Chip select
// #define SW_MOSI 66 // Software Master Out Slave In (MOSI)
// #define SW_MISO 44 // Software Master In Slave Out (MISO)
// #define SW_SCK 64 // Software Slave Clock (SCK)
#define SW_RX 9 // TMC2208/TMC2224 SoftwareSerial receive pin
#define SW_TX 10 // TMC2208/TMC2224 SoftwareSerial transmit pin
// #define SERIAL_PORT Serial1 // TMC2208/TMC2224 HardwareSerial port
#define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2

#define MICROSTEPS 2 //microsteps 1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128 1/256
#define samplingPer 500

#define R_SENSE 0.11f // Match to your driver \
// SilentStepStick series use 0.11 \
// UltiMachine Einsy and Archim2 boards use 0.2 \
// Panucatt BSD2660 uses 0.1 \
// Watterott TMC5160 uses 0.075

// Select your stepper driver type
//TMC2130Stepper driver(CS_PIN, R_SENSE); // Hardware SPI
//TMC2130Stepper driver(CS_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK); // Software SPI
//TMC2660Stepper driver(CS_PIN, R_SENSE); // Hardware SPI
//TMC2660Stepper driver(CS_PIN, _SENSE, SW_MOSI, SW_MISO, SW_SCK);
//TMC5160Stepper driver(CS_PIN, R_SENSE);
//TMC5160Stepper driver(CS_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK);

// TMC2208Stepper driver(&SERIAL_PORT, R_SENSE); // Hardware Serial
//TMC2208Stepper driver(SW_RX, SW_TX, R_SENSE); // Software serial
//TMC2209Stepper driver(&SERIAL_PORT, R_SENSE, DRIVER_ADDRESS);

TMC2209Stepper driver(SW_RX, SW_TX, R_SENSE, DRIVER_ADDRESS);

void print_param(String param_name, float param_value) {
Serial.print(param_name);
Serial.print(": ");
Serial.println(param_value, 2);
}

void setup() {
Serial.begin(9600);
while (!Serial)
;
Serial.println("Serial port started");


pinMode(KNOB_PIN, INPUT);
pinMode(EN_PIN, OUTPUT);
// pinMode(STEP_PIN, OUTPUT);
// pinMode(DIR_PIN, OUTPUT);
// pinMode(INDEX_PIN, INPUT);
pinMode(FWD_BUTTON_PIN, INPUT);
digitalWrite(EN_PIN, LOW); // Enable driver in hardware

// Enable one according to your setup
//SPI.begin(); // SPI drivers
//SERIAL_PORT.begin(115200); // HW UART drivers
driver.beginSerial(115200); // SW UART drivers

driver.begin(); // SPI: Init CS pins and possible SW SPI pins
// UART: Init SW UART (if selected) with default 115200 baudrate
driver.toff(1); // Enables driver in software
driver.rms_current(1500); // Set motor RMS current
driver.microsteps(MICROSTEPS); //microsteps 1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128 1/256

// driver.en_pwm_mode(true); // Toggle stealthChop on TMC2130/2160/5130/5160
driver.en_spreadCycle(false); // Toggle spreadCycle on TMC2208/2209/2224
// driver.VACTUAL(0); // 0 - set rotor speed from STEP input, !=0 - from internal generator (12Mhz max)

driver.pwm_autoscale(true); // stealthChop auto configuration
driver.pwm_autograd(true); // stealthChop auto configuration. Automatic tuning (only with pwm_autoscale=1)



// stealhChop autoconf phase 1 (PWM_ OFS_AUTO)
// Conditions:
// - Motor in standstill and actual current scale (CS) is identical to run current (IRUN).
// - If standstill reduction is enabled (pin PDN_UART=0), an initial step pulse switches the drive back to run current.
// - Pins VS and VREF at operating level.
print_param("IRUN", driver.irun());
print_param("CS_ACTUAL", driver.cs_actual());

Serial.println("Start delay for autoconf");
delay(200); // delay at least 130 milliseconds to stealhChop autoconfig phase 1
Serial.println("End delay for autoconf");

print_param("IRUN", driver.irun());
print_param("CS_ACTUAL", driver.cs_actual());

Serial.println("Starting phase 2 of stealhChop autoconfig");

// Motor must move at a velocity, where a significant amount of back EMF is generated and where the full run current can be reached. Conditions:
// - 1.5 * PWM_OFS_AUTO < PWM_SCALE_SUM < 4 * PWM_OFS_AUTO
// - PWM_SCALE_SUM < 255.
// Hint: A typical range is 60-300 RPM. Determine best conditions with the evaluation board and monitor PWM_SCALE_AUTO going down to zero during tuning.

float percent_rotation_per_tick = (float)((float)(1.8 / MICROSTEPS) / 360);

int32_t vactual = (float)(1 / percent_rotation_per_tick); //start from 1 RPS (60 RPM)
uint32_t calibration_time; // how many time need to calibrate
int16_t pwm_scale_auto;

// stealhChop autoconf phase 2
// need some inpection. I'm not sure if this is correct

do {
print_param("rotation speed", vactual);
print_param("microsteps", MICROSTEPS);
calibration_time = (float)(500 / (float)(abs(vactual) / MICROSTEPS)) * 1000; // how many time need to 1000 full steps
print_param("calibration time ms", calibration_time);
driver.VACTUAL(vactual); // steps per second
vactual *= -1.05; // increase 5% and change direction
if (abs(vactual) > 3 / percent_rotation_per_tick) {
vactual = (float)(1.00 / percent_rotation_per_tick);
}
delay(calibration_time);
pwm_scale_auto = driver.pwm_scale_auto();
print_param("pwm_scale_auto", pwm_scale_auto);
} while (pwm_scale_auto != 0);

driver.VACTUAL(0);
Serial.println("stealhChop autoconfig finished...");


driver.index_step(1); // 1 - output steps to UART

// initialize the capture timer pin & period
// CaptureTimer::initCapTicks(samplingPer, INDEX_PIN);
}


bool shaft = false;
int fwd_button_state;
int knob_pin_value = 0;
int32_t rotation_speed = 0;
uint16_t ticks;
float percent_rotation_per_tick = 1.8 / MICROSTEPS / 360;

void loop() {
fwd_button_state = digitalRead(FWD_BUTTON_PIN);


if (fwd_button_state == HIGH) {
knob_pin_value = analogRead(KNOB_PIN);
rotation_speed = (long)(knob_pin_value - 512) * 2 * MICROSTEPS;

driver.VACTUAL(rotation_speed); // set rotor speed

while (fwd_button_state == HIGH) {
print_param("pwm_scale_auto: ", driver.pwm_scale_auto());
delay(100);
knob_pin_value = analogRead(KNOB_PIN);
rotation_speed = (long)(knob_pin_value - 512) * 2 * MICROSTEPS;
driver.VACTUAL(rotation_speed);


// if (CaptureTimer::getTicks(&ticks) == true) { // Only print on serial if new data is available
// Serial.print("Ticks: ");
// Serial.print(ticks);
// Serial.print("\tFreq: ");
// (void)CaptureTimer::getFreq(&ticks);
// Serial.print(ticks);
// Serial.print("Hz");
// Serial.print("\tRotation speed: ");
// Serial.println(rotation_speed);
// print_param("IRUN", driver.irun());
// print_param("CS_ACTUAL", driver.cs_actual());
// }


fwd_button_state = digitalRead(FWD_BUTTON_PIN);
}
driver.VACTUAL(0);

print_param("RPS: ", (float)rotation_speed * percent_rotation_per_tick);
print_param("MicroStep counter: ", driver.MSCNT());
}
// shaft = !shaft;
// driver.shaft(shaft);
}