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TMC2209 UART
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/** | |
* Author Milan Divkovic | |
* | |
* You can control the motor with following commands: | |
* 0: Disables the motor | |
* 1: Enables the motor | |
* + or -: Increase or decrease speed in respect to rotation direction | |
*/ | |
#include <Arduino.h> | |
#include <TMCStepper.h> | |
#define STALL_VALUE 50 // [0... 255] | |
#define TOFF_VALUE 4 // [1... 15] | |
#define EN_PIN 6 // Enable pin | |
#define SW_RX 2 // SoftwareSerial receive pin | |
#define SW_TX 3 // SoftwareSerial transmit pin | |
//#define SERIAL_PORT Serial1 // HardwareSerial port | |
#define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2 | |
#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 | |
//TMC2209Stepper driver(&SERIAL_PORT, R_SENSE, DRIVER_ADDRESS); | |
TMC2209Stepper driver(SW_RX, SW_TX, R_SENSE, DRIVER_ADDRESS); | |
using namespace TMC2209_n; | |
int32_t speed = 5000; | |
void setup() { | |
Serial.begin(115200); // Init serial port and set baudrate | |
while(!Serial); // Wait for serial port to connect | |
Serial.println("\nStart..."); | |
//SERIAL_PORT.begin(115200); | |
driver.beginSerial(115200); | |
driver.begin(); | |
// Sets the slow decay time (off time) [1... 15]. This setting also limits | |
// the maximum chopper frequency. For operation with StealthChop, | |
// this parameter is not used, but it is required to enable the motor. | |
// In case of operation with StealthChop only, any setting is OK. | |
driver.toff(TOFF_VALUE); | |
// VACTUAL allows moving the motor by UART control. | |
// It gives the motor velocity in +-(2^23)-1 [μsteps / t] | |
// 0: Normal operation. Driver reacts to STEP input. | |
// /=0: Motor moves with the velocity given by VACTUAL. | |
// Step pulses can be monitored via INDEX output. | |
// The motor direction is controlled by the sign of VACTUAL. | |
driver.VACTUAL(speed); | |
// Comparator blank time. This time needs to safely cover the switching | |
// event and the duration of the ringing on the sense resistor. For most | |
// applications, a setting of 16 or 24 is good. For highly capacitive | |
// loads, a setting of 32 or 40 will be required. | |
driver.blank_time(24); | |
driver.rms_current(400); // mA | |
driver.microsteps(16); | |
// Lower threshold velocity for switching on smart energy CoolStep and StallGuard to DIAG output | |
driver.TCOOLTHRS(0xFFFFF); // 20bit max | |
// CoolStep lower threshold [0... 15]. | |
// If SG_RESULT goes below this threshold, CoolStep increases the current to both coils. | |
// 0: disable CoolStep | |
driver.semin(5); | |
// CoolStep upper threshold [0... 15]. | |
// If SG is sampled equal to or above this threshold enough times, | |
// CoolStep decreases the current to both coils. | |
driver.semax(2); | |
// Sets the number of StallGuard2 readings above the upper threshold necessary | |
// for each current decrement of the motor current. | |
driver.sedn(0b01); | |
// StallGuard4 threshold [0... 255] level for stall detection. It compensates for | |
// motor specific characteristics and controls sensitivity. A higher value gives a higher | |
// sensitivity. A higher value makes StallGuard4 more sensitive and requires less torque to | |
// indicate a stall. The double of this value is compared to SG_RESULT. | |
// The stall output becomes active if SG_RESULT fall below this value. | |
driver.SGTHRS(STALL_VALUE); | |
Serial.print("\nTesting connection..."); | |
uint8_t result = driver.test_connection(); | |
if (result) { | |
Serial.println("failed!"); | |
Serial.print("Likely cause: "); | |
switch(result) { | |
case 1: Serial.println("loose connection"); break; | |
case 2: Serial.println("no power"); break; | |
} | |
Serial.println("Fix the problem and reset board."); | |
// We need this delay or messages above don't get fully printed out | |
delay(100); | |
abort(); | |
} | |
Serial.println("OK"); | |
pinMode(EN_PIN, OUTPUT); | |
digitalWrite(EN_PIN, LOW); | |
} | |
void loop() { | |
static uint32_t last_time = 0; | |
uint32_t ms = millis(); | |
while (Serial.available() > 0) { | |
int8_t read_byte = Serial.read(); | |
if (read_byte == '0') { | |
Serial.print("Motor "); | |
if (driver.toff() == 0) { | |
Serial.print("already "); | |
} | |
Serial.println("disabled."); | |
driver.toff(0); | |
} else if (read_byte == '1') { | |
Serial.print("Motor "); | |
if (driver.toff() != 0) { | |
Serial.print("already "); | |
} | |
Serial.println("enabled."); | |
driver.toff(TOFF_VALUE); | |
} else if (read_byte == '+') { | |
speed += 1000; | |
if (speed == 0) { | |
Serial.println("Hold motor."); | |
} else { | |
Serial.println("Increase speed."); | |
} | |
driver.VACTUAL(speed); | |
} else if (read_byte == '-') { | |
speed -= 1000; | |
if (speed == 0) { | |
Serial.println("Hold motor."); | |
} else { | |
Serial.println("Decrease speed."); | |
} | |
driver.VACTUAL(speed); | |
} | |
} | |
if((ms-last_time) > 100 && driver.toff() != 0 && speed != 0) { // run every 0.1s | |
last_time = ms; | |
Serial.print("Status: "); | |
Serial.print(driver.SG_RESULT(), DEC); | |
Serial.print(" "); | |
Serial.print(driver.SG_RESULT() < STALL_VALUE, DEC); | |
Serial.print(" "); | |
Serial.println(driver.cs2rms(driver.cs_actual()), DEC); | |
} | |
} |
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Is it working? What's the version of TMCStepper library used here?