library - TMC26x Stepper
This commit is contained in:
Richard Wackerbarth
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/*
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TMC26XMotorTest.ino - - TMC26X Stepper library tester for Wiring/Arduino
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Copyright (c) 2011, Interactive Matter, Marcus Nowotny
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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*/
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#define INPUT_BUFFER_LENGTH 32
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#define SERIAL_SPEED 115200
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#define STATUS_COUNTER 100
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char inputBuffer[INPUT_BUFFER_LENGTH+1]; //ad on character to keep the trainling 0
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unsigned char inputBufferPosition;
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void startSerial() {
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Serial.begin(SERIAL_SPEED);
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Serial.println(F("================================="));
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Serial.println(F("TMC26X Stepper Driver Motor Tester"));
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Serial.println(F("================================="));
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//empty the input buffer
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for (unsigned char i=0; i< INPUT_BUFFER_LENGTH+1; i++) {
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inputBuffer[i]=0;
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}
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inputBufferPosition=0;
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}
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void loopSerial() {
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if (Serial.available()>0 && inputBufferPosition<INPUT_BUFFER_LENGTH) {
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char c = Serial.read();
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//Read the char
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inputBuffer[inputBufferPosition]=c;
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inputBufferPosition++;
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//always terminate the string
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inputBuffer[inputBufferPosition]=0;
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//and if the line ended we execute the command
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if (c=='\n') {
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executeSerialCommand();
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}
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}
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if (motor_moved) {
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Serial.print("#sg");
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Serial.print(tmc26XStepper.getCurrentStallGuardReading(),DEC);
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Serial.print(",p");
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Serial.print(tmc26XStepper.getMotorPosition(),DEC);
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Serial.print(",k");
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Serial.print(tmc26XStepper.getCurrentCurrent(),DEC);
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Serial.println(',');
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motor_moved=0;
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}
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if (motor_counter>STATUS_COUNTER) {
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motor_counter=0;
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char moving = tmc26XStepper.isMoving();
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Serial.print('#');
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if (moving) {
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Serial.print('r');
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}
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else {
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Serial.print('s');
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}
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Serial.print(',');
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Serial.print('d');
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Serial.print(direction);
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Serial.print(',');
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Serial.print("c");
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Serial.print(tmc26XStepper.getCurrent(),DEC);
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Serial.print(',');
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Serial.print('S');
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Serial.print(tmc26XStepper.getSpeed(),DEC);
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Serial.print(',');
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Serial.print('m');
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Serial.print(tmc26XStepper.getMicrosteps(),DEC);
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Serial.print(',');
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Serial.print("t");
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Serial.print(tmc26XStepper.getStallGuardThreshold(),DEC);
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Serial.print(',');
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Serial.print('f');
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Serial.print(tmc26XStepper.getStallGuardFilter(),DEC);
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Serial.print(',');
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//print out the general cool step config
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if (tmc26XStepper.isCoolStepEnabled()) {
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Serial.print("Ke+,");
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}
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else {
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Serial.print("Ke-,");
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}
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Serial.print("Kl");
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Serial.print(tmc26XStepper.getCoolStepLowerSgThreshold(),DEC);
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Serial.print(",Ku");
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Serial.print(tmc26XStepper.getCoolStepUpperSgThreshold(),DEC);
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Serial.print(",Kn");
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Serial.print(tmc26XStepper.getCoolStepNumberOfSGReadings(),DEC);
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Serial.print(",Ki");
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Serial.print(tmc26XStepper.getCoolStepCurrentIncrementSize(),DEC);
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Serial.print(",Km");
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Serial.print(tmc26XStepper.getCoolStepLowerCurrentLimit(),DEC);
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Serial.print(',');
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//detect the winding status
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if (tmc26XStepper.isOpenLoadA()) {
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Serial.print("ao,");
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}
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else if(tmc26XStepper.isShortToGroundA()) {
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Serial.print("ag,");
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}
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else {
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Serial.print("a-,");
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}
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//detect the winding status
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if (tmc26XStepper.isOpenLoadB()) {
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Serial.print("bo,");
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}
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else if(tmc26XStepper.isShortToGroundB()) {
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Serial.print("bg,");
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}
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else {
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Serial.print("b-,");
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}
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char temperature = tmc26XStepper.getOverTemperature();
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if (temperature==0) {
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Serial.print("x-,");
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}
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else if (temperature==TMC26X_OVERTEMPERATURE_PREWARING) {
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Serial.print("xw,");
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}
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else {
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Serial.print("xe,");
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}
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if (tmc26XStepper.isEnabled()) {
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Serial.print("e1,");
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}
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else {
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Serial.print("e0,");
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}
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//write out the current chopper config
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Serial.print("Cm");
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Serial.print(chopperMode,DEC);
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Serial.print(",Co");
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Serial.print(t_off,DEC);
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Serial.print(",Cb");
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Serial.print(t_blank,DEC);
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if (chopperMode==0) {
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Serial.print(",Cs");
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Serial.print(h_start,DEC);
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Serial.print(",Ce");
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Serial.print(h_end,DEC);
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Serial.print(",Cd");
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Serial.print(h_decrement,DEC);
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}
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Serial.print(',');
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Serial.println();
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}
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}
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void executeSerialCommand() {
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Serial.print("Executing ");
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Serial.println(inputBuffer);
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//stimple runn & stop commands
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switch(inputBuffer[0]) {
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case 's':
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running = 0;
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break;
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case 'r':
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running = -1;
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break;
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case 'S':
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{
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int targetSpeed = decode(1);
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setSpeed(targetSpeed);
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}
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break;
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case 'm':
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{
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int microstepping = decode(1);
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setMicrostepping(microstepping);
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}
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break;
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case 't':
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{
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int threshold = decode(1);
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setStallGuardThreshold(threshold);
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}
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break;
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case 'f':
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{
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int filter = decode(1);
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setStallGuardFilter(filter);
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}
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break;
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case 'd':
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{
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int value = decode(1);
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tmc26XStepper.stop();
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if (value<0) {
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direction=-1;
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}
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else {
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direction=1;
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}
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}
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break;
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case 'c':
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{
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int current = decode(1);
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setCurrent(current);
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}
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break;
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case 'e':
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{
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int enabled = decode(1);
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if (enabled) {
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tmc26XStepper.setEnabled(true);
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}
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else {
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tmc26XStepper.setEnabled(false);
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}
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}
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break;
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case 'C':
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switch(inputBuffer[1]) {
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case 'o':
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{
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int value = decode(2);
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if (value>0 && value<16) {
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t_off=value;
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updateChopper();
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}
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}
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break;
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case 'b':
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{
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int value = decode(2);
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if (value>=0 && value<=3) {
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t_blank=value;
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updateChopper();
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}
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}
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break;
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case 's':
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{
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int value = decode(2);
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if (value>=0 && value<=8) {
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h_start=value;
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updateChopper();
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}
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}
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break;
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case 'e':
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{
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int value = decode(2);
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if (value>=-3 && value<=12) {
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h_end=value;
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updateChopper();
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}
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}
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break;
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case 'd':
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{
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int value = decode(2);
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if (value>=0 && value<=3) {
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h_decrement=value;
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updateChopper();
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}
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}
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break;
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}
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break;
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case 'K':
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switch(inputBuffer[1]) {
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case '+':
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tmc26XStepper.setCoolStepEnabled(true);
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break;
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case '-':
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tmc26XStepper.setCoolStepEnabled(false);
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break;
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case 'l':
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{
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int value = decode(2);
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if (value>=0 && value<480) {
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lower_SG_threshold=value;
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updateCoolStep();
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}
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}
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break;
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case 'u':
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{
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int value = decode(2);
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if (value>=0 && value<480) {
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upper_SG_threshold=value;
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updateCoolStep();
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}
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}
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break;
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case 'n':
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{
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int value = decode(2);
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if (value>=0 && value<4) {
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number_of_SG_readings=value;
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updateCoolStep();
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}
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}
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break;
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case 'i':
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{
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int value = decode(2);
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if (value>=0 && value<4) {
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current_increment_step_size=value;
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updateCoolStep();
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}
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}
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break;
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case 'm':
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{
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int value = decode(2);
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if (value>=0 && value<2) {
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lower_current_limit=value;
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updateCoolStep();
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}
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}
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break;
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}
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break;
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}
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//at the end delete buffer
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inputBufferPosition=0;
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inputBuffer[0]=0;
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}
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int decode(unsigned char startPosition) {
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int result=0;
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boolean negative = false;
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if (inputBuffer[startPosition]=='-') {
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negative=true;
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startPosition++;
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}
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for (unsigned char i=startPosition; i< (INPUT_BUFFER_LENGTH+1) && inputBuffer[i]!=0; i++) {
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char number = inputBuffer[i];
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//this very dumb approac can lead to errors, but we expect only numbers after the command anyway
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if (number <= '9' && number >='0') {
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result *= 10;
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result += number - '0';
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}
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}
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if (negative) {
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return -result;
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}
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else {
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return result;
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}
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}
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