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134 lines
4.3 KiB
134 lines
4.3 KiB
/**
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* Author Teemu Mäntykallio
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*
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* Plot TMC2130 or TMC2660 motor load using the stallGuard value.
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* You can finetune the reading by changing the STALL_VALUE.
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* This will let you control at which load the value will read 0
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* and the stall flag will be triggered. This will also set pin DIAG1 high.
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* A higher STALL_VALUE will make the reading less sensitive and
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* a lower STALL_VALUE will make it more sensitive.
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*
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* You can control the rotation speed with
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* 0 Stop
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* 1 Resume
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* + Speed up
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* - Slow down
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*/
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#include <TMCStepper.h>
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#define MAX_SPEED 40 // In timer value
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#define MIN_SPEED 1000
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#define STALL_VALUE 15 // [-64..63]
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// Note: You also have to connect GND, 5V and VM.
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// A connection diagram can be found in the schematics.
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#define EN_PIN 38 // Enable
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#define DIR_PIN 55 // Direction
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#define STEP_PIN 54 // Step
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#define STEP_PORT PORTF // Match with STEP_PIN
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#define STEP_BIT_POS 0 // Match with STEP_PIN
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#define CS_PIN 38 // Chip select
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#define SW_MOSI 66 // Software Master Out Slave In (MOSI)
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#define SW_MISO 44 // Software Master In Slave Out (MISO)
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#define SW_SCK 64 // Software Slave Clock (SCK)
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#define R_SENSE 0.11 // Match to your driver
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// SilentStepStick series use 0.11
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// UltiMachine Einsy and Archim2 boards use 0.2
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// Panucatt BSD2660 uses 0.1
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// Select your stepper driver type
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//#define USING_TMC2660 // Uncomment if you are using TMC2660 driver
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//TMC2130Stepper driver = TMC2130Stepper(CS_PIN, R_SENSE); // Hardware SPI
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//TMC2130Stepper driver = TMC2130Stepper(CS_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK); // Software SPI
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//TMC2660Stepper driver = TMC2660Stepper(EN_PIN, R_SENSE); // Hardware SPI
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//TMC2660Stepper driver = TMC2660Stepper(EN_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK); // Software SPI
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bool vsense;
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uint16_t rms_current(uint8_t CS) {
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return (float)(CS+1)/32.0 * (vsense?0.180:0.325)/(R_SENSE+0.02) / 1.41421 * 1000;
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}
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void setup() {
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SPI.begin();
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Serial.begin(250000); // Init serial port and set baudrate
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while(!Serial); // Wait for serial port to connect
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Serial.println("\nStart...");
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pinMode(EN_PIN, OUTPUT);
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pinMode(STEP_PIN, OUTPUT);
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pinMode(CS_PIN, OUTPUT);
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pinMode(DIR_PIN, OUTPUT);
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pinMode(MISO, INPUT_PULLUP);
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digitalWrite(EN_PIN, LOW);
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driver.begin();
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driver.toff(4);
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driver.blank_time(24);
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driver.rms_current(400); // mA
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driver.microsteps(16);
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driver.sfilt(true); // Improves TMC2660 SG readout
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#ifdef USING_TMC2660
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driver.rdsel(0b01);
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#else
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driver.TCOOLTHRS(0xFFFFF); // 20bit max
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driver.THIGH(0);
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#endif
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driver.semin(5);
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driver.semax(2);
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driver.sedn(0b01);
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driver.sgt(STALL_VALUE);
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// Set stepper interrupt
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{
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cli();//stop interrupts
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TCCR1A = 0;// set entire TCCR1A register to 0
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TCCR1B = 0;// same for TCCR1B
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TCNT1 = 0;//initialize counter value to 0
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OCR1A = 256;// = (16*10^6) / (1*1024) - 1 (must be <65536)
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// turn on CTC mode
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TCCR1B |= (1 << WGM12);
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// Set CS11 bits for 8 prescaler
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TCCR1B |= (1 << CS11);// | (1 << CS10);
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// enable timer compare interrupt
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TIMSK1 |= (1 << OCIE1A);
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sei();//allow interrupts
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}
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}
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ISR(TIMER1_COMPA_vect){
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STEP_PORT |= 1 << STEP_BIT_POS;
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STEP_PORT &= ~(1 << STEP_BIT_POS);
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}
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void loop()
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{
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static uint32_t last_time=0;
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uint32_t ms = millis();
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while(Serial.available() > 0) {
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int8_t read_byte = Serial.read();
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#ifdef USING_TMC2660
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if (read_byte == '0') { TIMSK1 &= ~(1 << OCIE1A); driver.toff(0); }
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else if (read_byte == '1') { TIMSK1 |= (1 << OCIE1A); driver.toff(driver.savedToff()); }
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#else
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if (read_byte == '0') { TIMSK1 &= ~(1 << OCIE1A); digitalWrite( EN_PIN, HIGH ); }
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else if (read_byte == '1') { TIMSK1 |= (1 << OCIE1A); digitalWrite( EN_PIN, LOW ); }
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#endif
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else if (read_byte == '+') { if (OCR1A > MAX_SPEED) OCR1A -= 20; }
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else if (read_byte == '-') { if (OCR1A < MIN_SPEED) OCR1A += 20; }
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}
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if((ms-last_time) > 100) { //run every 0.1s
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last_time = ms;
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uint32_t drv_status = driver.DRV_STATUS();
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Serial.print("0 ");
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Serial.print((drv_status & SG_RESULT_bm)>>SG_RESULT_bp , DEC);
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Serial.print(" ");
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Serial.println(rms_current((drv_status & CS_ACTUAL_bm)>>CS_ACTUAL_bp), DEC);
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}
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}
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