diff --git a/firmware/.gitignore b/firmware/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/firmware/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/firmware/.vscode/extensions.json b/firmware/.vscode/extensions.json new file mode 100644 index 0000000..080e70d --- /dev/null +++ b/firmware/.vscode/extensions.json @@ -0,0 +1,10 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack" + ] +} diff --git a/firmware/include/README b/firmware/include/README new file mode 100644 index 0000000..194dcd4 --- /dev/null +++ b/firmware/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/firmware/lib/README b/firmware/lib/README new file mode 100644 index 0000000..6debab1 --- /dev/null +++ b/firmware/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into executable file. + +The source code of each library should be placed in a an own separate directory +("lib/your_library_name/[here are source files]"). + +For example, see a structure of the following two libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +PlatformIO Library Dependency Finder will find automatically dependent +libraries scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/firmware/platformio.ini b/firmware/platformio.ini new file mode 100644 index 0000000..a659c0c --- /dev/null +++ b/firmware/platformio.ini @@ -0,0 +1,21 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:uno] +platform = atmelavr +board = uno +framework = arduino + +monitor_speed = 115200 + +lib_deps = + SPI + TMCStepper + AccelStepper diff --git a/firmware/src/main.cpp b/firmware/src/main.cpp new file mode 100644 index 0000000..9c7d656 --- /dev/null +++ b/firmware/src/main.cpp @@ -0,0 +1,243 @@ +#include + +#define EN_PIN 7 // Enable +#define DIR_PIN 9 // Direction +#define STEP_PIN 8 // Step +#define DIAG_PIN 10 // Diagnostic +#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 5 // TMC2208/TMC2224 SoftwareSerial receive pin +#define SW_TX 5 // 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 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 + +TMC2209Stepper driver(SW_RX, SW_TX, R_SENSE, DRIVER_ADDRESS); + +#define MICROSTEPS 2 +#define STEPS_PER_REV 200 * MICROSTEPS + +void setup() { + Serial.begin(115200); + Serial.println("Start..."); + + // give power supply time to settle + delay(1000); + + pinMode(EN_PIN, OUTPUT); + pinMode(STEP_PIN, OUTPUT); + pinMode(DIR_PIN, OUTPUT); + pinMode(DIAG_PIN, INPUT); + digitalWrite(EN_PIN, LOW); + + // Enable one according to your setup +//SPI.begin(); // SPI drivers +//SERIAL_PORT.begin(115200); // HW UART drivers +// driver.beginSerial(115200); // SW UART drivers + + // driver.internal_Rsense(true); + driver.begin(); + driver.push(); + + // TOFF General enable for the motor driver, the actual value does not influence StealthChop + driver.toff(4); + // RMS (mA) current for running, second arg - hold current multiplier + driver.rms_current(1800, 0.5); + driver.microsteps(0); + + // Enable stealthChop + driver.en_spreadCycle(false); + + // When using the UART interface, the configuration pin should be disabled via GCONF.pdn_disable = 1. + // Program IHOLD as desired for standstill periods. + driver.pdn_disable(true); + + // driver.en_spreadCycle(true); // Toggle spreadCycle on TMC2208/2209/2224 + // driver.hysteresis_start(8); + // driver.hysteresis_end(hysteresis_end); + // driver.blank_time(54); + // driver.toff(5); + // driver.freewheel(0b01); + + // This is the lower threshold velocity for switching on smart energy CoolStep and StallGuard to DIAG output + // Set this parameter to disable CoolStep at low speeds, where it cannot work reliably. + // The stall output signal become enabled when exceeding this velocity. It becomes disabled again once the velocity falls below this threshold + // (TCOOLTHRS ≥ TSTEP > TPWMTHRS) + driver.TCOOLTHRS(0xFFFFF); // 20bit max + + // The driver.SG_RESULT() returns the result in the legacy 10 bit format, where the first and the last bit are always set to 0. + // Dividing it by 2 gives us the value in the same range as driver.SGTHRS(STALL_VALUE); + // if the (converted) SG_RESULT <= 2 * SGTHRS, stall is reported + driver.SGTHRS(35); + + // default value: SGTHRS / 16 + 1 + // for sgResult = semin * 16, the current starts getting increased to resist the resistance + // the bigger it is, the bigger the chance the motor is going to react to adversity + // by increasing the current + // 0..15 + driver.semin(15); + + // SEMAX is used to determine when the extra current should be disabled. + // the higher it is, the harder it's going to be to go back to energy efficient mode + // 0 to 2 recommended + // 0..15 + driver.semax(8); + + // If the StallGuard4result is equal to or above (SEMIN+SEMAX+1)*32 the motro current becomes decreased to save energy + driver.sedn(0b01); + + +// driver.en_pwm_mode(true); // Toggle stealthChop on TMC2130/2160/5130/5160 + // driver.pwm_autoscale(true); // Needed for stealthChop + + Serial.print(F("\nTesting connection...")); + uint8_t result = driver.test_connection(); + if (result) { + Serial.println(F("failed!")); + Serial.print(F("Likely cause: ")); + switch(result) { + case 1: Serial.println(F("loose connection")); break; + case 2: Serial.println(F("Likely cause: no power")); break; + } + Serial.println(F("Fix the problem and reset board.")); + delay(200); + abort(); + } + Serial.println(F("OK")); + + // stealthChop2 regulates to nominal current and stores result to PWM_OFS_AUTO (Requires stand still for >130ms) + delay(130); +} + +bool shaft = false; +unsigned int stepsDelay = 10000; +bool shouldRun = true; +int stepsMade = 0; +int stallSigs = 0; + +void loop() { + if (Serial.available()) { + char c = Serial.read(); + if (c == 'r') { + shaft = !shaft; + driver.shaft(shaft); + Serial.println("Shaft reversed"); + } else if (c == '+') { + stepsDelay *= 0.8; + if (stepsDelay < 10) { + stepsDelay = 10; + } + Serial.println("Speed: " + String(stepsDelay)); + } else if (c == '-') { + stepsDelay *= 1.2; + Serial.println("Speed: " + String(stepsDelay)); + } else if (c == 's') { + shouldRun = false; + Serial.println("Stopped."); + } else if (c == '0') { + shouldRun = false; + digitalWrite(EN_PIN, HIGH); + Serial.println("Stopped & disabled."); + } else if (c == 'g') { + shouldRun = true; + digitalWrite(EN_PIN, LOW); + Serial.println("Running."); + } else if (c == 't') { + // Serial.print("LOST_STEPS: 0b"); + // Serial.println(driver.LOST_STEPS(), DEC); + + Serial.print("PWM_SCALE: 0b"); + Serial.println(driver.PWM_SCALE(), DEC); + + Serial.print("SGTHRS: "); + Serial.println(driver.SGTHRS(), DEC); + + Serial.print("SG_RESULT: "); + Serial.println(driver.SG_RESULT()/2, DEC); + + Serial.print("GCONF: "); + Serial.println(driver.GCONF(), DEC); + + Serial.print("CHOPCONF: 0b"); + Serial.println(driver.CHOPCONF(), BIN); + } + // else if (c == 'h') { + // hysteresis_end = hysteresis_end + 1; + // if (hysteresis_end > 12) { + // hysteresis_end = -3; + // } + // driver.hysteresis_end(hysteresis_end); + // Serial.println("Hysteresis end: " + String(hysteresis_end)); + // } else if (c == '8') { + // while (driver.cur_a() < 240) { + // digitalWrite(STEP_PIN, HIGH); + // digitalWrite(STEP_PIN, LOW); + // delayMicroseconds(3); + // } + // } + } + + if (shouldRun) { + if (stepsMade >= STEPS_PER_REV) { + stepsMade = 0; + // shaft = !shaft; + // driver.shaft(shaft); + } + + for (uint32_t i = 24; i>0; i--) { + digitalWrite(STEP_PIN, LOW); + delayMicroseconds(1); + digitalWrite(STEP_PIN, HIGH); + delayMicroseconds(1); + digitalWrite(STEP_PIN, LOW); + delayMicroseconds(1); + delayMicroseconds(stepsDelay); + + if (digitalRead(DIAG_PIN) == HIGH) { + stallSigs += 1; + // Serial.println(""); + // shouldRun = false; + } + } + stepsMade += 100; + + if (stallSigs) { + Serial.print("STALLs "); + Serial.println(stallSigs, DEC); + + if (stallSigs >= 3) { + Serial.print("Will reverse at"); + Serial.println(driver.SG_RESULT()/2, DEC); + delay(200); + shaft = !shaft; + driver.shaft(shaft); + } + + stallSigs = 0; + } + + // Serial.println(driver.TCOOLTHRS(), DEC); + // Serial.println(driver.TSTEP(), DEC); + // Serial.println(driver.TPWMTHRS(), DEC); + // Serial.println(); + + // if (driver.SG_RESULT() > 105) { + // shaft = !shaft; + // driver.shaft(shaft); + // } + + // Serial.print(driver.SG_RESULT()/2, DEC); + // Serial.print(" "); + // Serial.print(digitalRead(DIAG_PIN), DEC); + // // Serial.print(" "); + // // Serial.println(driver.cs2rms(driver.cs_actual()), DEC); + // Serial.println(); + } +} diff --git a/firmware/test/README b/firmware/test/README new file mode 100644 index 0000000..9b1e87b --- /dev/null +++ b/firmware/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Test Runner and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PlatformIO Unit Testing: +- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html