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miho/trinamic-spi-config-arduino-nano.ino

Created April 13, 2022 08:37
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trinamic-spi-config-arduino-nano.ino
// @author Michael Hoffer <[email protected]>
// Requires TMCStepper library
#include <TMCStepper.h>
#include <EEPROM.h>
#include <avr/wdt.h>
#include <Wire.h>
#define CS_PIN1 8 // CS1 chip select
#define CS_PIN2 9 // CS1 chip select
#define CS_PIN3 10 // CS2 chip select
#define MOSI_PIN 11 // SDI/MOSI (ICSP: 4, Uno: 11, Mega: 51)
#define MISO_PIN 12 // SDO/MISO (ICSP: 1, Uno: 12, Mega: 50)
#define SCK_PIN 13 // CLK/SCK (ICSP: 3, Uno: 13, Mega: 52)
#define R_SENSE 0.075f //TMC5160: 0.075
// initialize motor drivers
TMC5160Stepper driver_0 = TMC5160Stepper(CS_PIN1, R_SENSE, MOSI_PIN, MISO_PIN, SCK_PIN);
TMC5160Stepper driver_1 = TMC5160Stepper(CS_PIN2, R_SENSE, MOSI_PIN, MISO_PIN, SCK_PIN);
TMC5160Stepper driver_2 = TMC5160Stepper(CS_PIN3, R_SENSE, MOSI_PIN, MISO_PIN, SCK_PIN);
TMC5160Stepper* driver[3];
// -----------------------------------------------------------------------------
#define VERSION "SPI-MOTOR-DRIVER-MODULE v0.1.0"
#define MSG_SIZE 32
#define BAUD_RATE 115200
// -----------------------------------------------------------------------------
#define READ_STATUS_ERROR_TIMEOUT -2
#define READ_STATUS_ERROR_OVERFLOW -1
#define READ_STATUS_READING 0
#define READ_STATUS_READY 1
// -----------------------------------------------------------------------------
#define CMD_VERSION 'v' // get version info
#define CMD_REBOOT 'r' // reboots the device
#define CMD_SAVE 's' // save values to eeprom
#define CMD_RMS_CURRENT 'c' // set current [range of uint32_t]
#define CMD_MICROSTEPS 'm' // set microsteps [range of uint8_t]
#define CMD_PWM_MODE 'p' // enable/disable pwm mode [0,1]
#define CMD_LIST_SETTINGS 'l' // list settings
#define CHANNEL_ERROR '!' // e.g. prefix !re defines error event with content 're'
#define CHANNEL_SELECT '#' // e.g. prefix #32 defines channel 32
#define LF '\n' // line feed aka. newline
// -----------------------------------------------------------------------------
#define X_AXIS 0
#define Y_AXIS 1
#define Z_AXIS 2
uint64_t read_timestamp = 0;
uint64_t now = 0;
uint8_t buffer[MSG_SIZE];
uint8_t buffer_len = 0;
bool msg_done = false;
uint32_t cnt = 0;
int8_t read_status = 0;
int8_t read() {
while (Serial.available()) {
uint8_t c = Serial.read();
buffer[cnt++] = c;
if ((c == LF) || (cnt == sizeof(buffer) - 1)) {
buffer[cnt] = '\0';
buffer_len = cnt;
cnt = 0;
return (buffer[buffer_len-1] == LF)?READ_STATUS_READY:READ_STATUS_ERROR_OVERFLOW;
}
}
return READ_STATUS_READING;
}
// -----------------------------------------------------------------------------
struct DriverSettings {
bool pwm_mode_enabled = true;
uint8_t microsteps = 16;
uint16_t rms_current = 0;
};
DriverSettings settings[3];
void load_setting(uint8_t axis) {
int address = &settings[axis];
EEPROM.get(address, settings[axis]);
}
void save_setting(uint8_t axis) {
int address = &settings[axis];
EEPROM.put(address, settings[axis]);
}
void apply_setting(uint8_t axis) {
driver[axis]->begin();
driver[axis]->toff(4); //off time
driver[axis]->blank_time(24); //blank time
driver[axis]->en_pwm_mode(settings[axis].pwm_mode_enabled); // enable extremely quiet stepping
driver[axis]->microsteps(settings[axis].microsteps); // microsteps (up to 256)
driver[axis]->rms_current(settings[axis].rms_current); // motor current in mA RMS
digitalWrite(CS_PIN1, LOW);
digitalWrite(CS_PIN2, LOW);
digitalWrite(CS_PIN3, LOW);
}
void setup() {
Serial.begin(BAUD_RATE);
driver[0] = &driver_0;
driver[1] = &driver_1;
driver[2] = &driver_2;
load_setting(X_AXIS);
load_setting(Y_AXIS);
load_setting(Z_AXIS);
/*
if(settings[0].rms_current == 65535) {
}
*/
apply_setting(X_AXIS);
apply_setting(Y_AXIS);
apply_setting(Z_AXIS);
}
void loop() {
if((read_status = read()) == READ_STATUS_READY) {
read_timestamp = now;
if(buffer[0]==CMD_VERSION) {
Serial.println(VERSION);
Serial.print(CMD_VERSION);
Serial.println(":ok");
return;
}
if(buffer[0]==CMD_REBOOT) {
Serial.print(CMD_REBOOT);
Serial.println(":ok");
wdt_enable(WDTO_60MS);
return;
}
if(buffer[0]==CMD_SAVE) {
save_setting(X_AXIS);
save_setting(Y_AXIS);
save_setting(Z_AXIS);
Serial.print(CMD_SAVE);
Serial.println(":ok");
return;
}
if(buffer[0]==CMD_LIST_SETTINGS) {
Serial.println(CMD_LIST_SETTINGS);
Serial.print("cmd 'p:0:[VALUE]', x-axis:en-pwm:");
Serial.println(settings[X_AXIS].pwm_mode_enabled);
Serial.print("cmd 'm:0:[VALUE]', x-axis:microsteps:");
Serial.println(settings[X_AXIS].microsteps);
Serial.print("cmd 'c:0:[VALUE]', x-axis:rms-current (mA):");
Serial.println(settings[X_AXIS].rms_current);
Serial.print("cmd 'p:1:[VALUE]', y-axis:en-pwm:");
Serial.println(settings[Y_AXIS].pwm_mode_enabled);
Serial.print("cmd 'm:1:[VALUE]', y-axis:microsteps:");
Serial.println(settings[Y_AXIS].microsteps);
Serial.print("cmd 'c:1:[VALUE]', y-axis:rms-current (mA):");
Serial.println(settings[Y_AXIS].rms_current);
Serial.print("cmd 'p:2:[VALUE]', z-axis:en-pwm:");
Serial.println(settings[Z_AXIS].pwm_mode_enabled);
Serial.print("cmd 'm:2:[VALUE]', z-axis:microsteps:");
Serial.println(settings[Z_AXIS].microsteps);
Serial.print("cmd 'c:2:[VALUE]', z-axis:rms-current (mA):");
Serial.println(settings[Z_AXIS].rms_current);
Serial.print(CMD_LIST_SETTINGS);
Serial.println(":ok");
return;
}
if(buffer[0]==CMD_PWM_MODE) {
// p:0:0 -> x-off
// p:0:1 -> x-on
// p:1:0 -> y-off
// p:1:1 -> y-on
char* cmdToken = strtok(buffer, ":");
char* axisToken = strtok(NULL, ":");
char* flagToken = strtok(NULL, ":");
if(cmdToken==NULL) {
Serial.println("ERROR: cannot parse msg.");
return;
}
int64_t axis = atol(axisToken);
if(axis < 0 || axis > 2) Serial.println("ERROR: axis out of range [0,1,2].");
Serial.print("axis: ");
Serial.print((long)axis);
if(flagToken==NULL) {
Serial.println("ERROR: cannot parse msg. Enable/Disable flag missing.");
Serial.print(CMD_PWM_MODE);
Serial.println(":ERROR");
return;
}
int64_t flag = atol(flagToken);
if(flag < 0 || flag > 1) Serial.println("ERROR: flag out of range [0,1].");
Serial.print(", flag: ");
Serial.println((long)flag);
driver[axis]->en_pwm_mode(flag);
settings[axis].pwm_mode_enabled = flag;
Serial.print(CMD_PWM_MODE);
Serial.println(":ok");
return;
}
if(buffer[0]==CMD_RMS_CURRENT) {
// c:0:100 -> x 100mA
// c:1:230 -> y 230mA
char* cmdToken = strtok(buffer, ":");
char* axisToken = strtok(NULL, ":");
char* valueToken = strtok(NULL, ":");
if(cmdToken==NULL) {
Serial.println("ERROR: cannot parse msg.");
return;
}
int64_t axis = atol(axisToken);
if(axis < 0 || axis > 2) Serial.println("ERROR: axis out of range [0,1,2].");
Serial.print("axis: ");
Serial.print((long)axis);
if(valueToken==NULL) {
Serial.println("ERROR: cannot parse msg. Current missing.");
Serial.print(CMD_RMS_CURRENT);
Serial.println(":error");
return;
}
int64_t value = atol(valueToken);
if(value < 0) Serial.println("ERROR: value out of range [0, int64_t].");
Serial.print(", rms-current(mA): ");
Serial.println((long)value);
driver[axis]->rms_current(value);
settings[axis].rms_current = value;
Serial.print(CMD_RMS_CURRENT);
Serial.println(":ok");
return;
}
if(buffer[0]==CMD_MICROSTEPS) {
// m:0:8 -> x 8 microsteps
// m:1:256 -> y 256 microsteps
char* cmdToken = strtok(buffer, ":");
char* axisToken = strtok(NULL, ":");
char* valueToken = strtok(NULL, ":");
if(cmdToken==NULL) {
Serial.println("ERROR: cannot parse msg.");
return;
}
int64_t axis = atol(axisToken);
if(axis < 0 || axis > 2) Serial.println("ERROR: axis out of range [0,1,2].");
Serial.print("axis: ");
Serial.print((long)axis);
if(valueToken==NULL) {
Serial.println("ERROR: cannot parse msg. Microsteps missing.");
Serial.print(CMD_MICROSTEPS);
Serial.println(":error");
return;
}
int64_t value = atol(valueToken);
if(value < 0||value>256) Serial.println("ERROR: microsteps out of range [1, 2, 4, 8, 16,...,256].");
Serial.print(", microsteps: ");
Serial.println((long)value);
driver[axis]->microsteps(value);
settings[axis].microsteps = value;
Serial.print(CMD_MICROSTEPS);
Serial.println(":ok");
return;
}
}
if(read_status == READ_STATUS_ERROR_OVERFLOW) {
Serial.print("!re:");
Serial.println(READ_STATUS_ERROR_OVERFLOW);
} else if (read_status == READ_STATUS_ERROR_TIMEOUT) {
Serial.print("!re:");
Serial.println(READ_STATUS_ERROR_TIMEOUT);
}
}
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