BatteryHopper/src/main.cpp

#include <TMCStepper.h>

#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

// Select your stepper driver type
//TMC2130Stepper driver(CS_PIN, R_SENSE);                           // Hardware SPI
//TMC2130Stepper driver(CS_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK); // Software SPI
//TMC2660Stepper driver(CS_PIN, R_SENSE);                           // Hardware SPI
//TMC2660Stepper driver(CS_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK);
//TMC5160Stepper driver(CS_PIN, R_SENSE);
//TMC5160Stepper driver(CS_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK);

// TMC2208Stepper driver(&SERIAL_PORT, R_SENSE);                     // Hardware Serial
//TMC2208Stepper driver(SW_RX, SW_TX, R_SENSE);                     // Software serial
//TMC2209Stepper driver(&SERIAL_PORT, R_SENSE, DRIVER_ADDRESS);
TMC2209Stepper driver(SW_RX, SW_TX, R_SENSE, DRIVER_ADDRESS);

#define MICROSTEPS 16
#define STEPS_PER_REV 200 * MICROSTEPS

void setup() {
  pinMode(EN_PIN, OUTPUT);
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  pinMode(DIAG_PIN, INPUT);
  digitalWrite(EN_PIN, LOW);

  Serial.begin(9600);
  Serial.println("Start...");

                                  // Enable one according to your setup
//SPI.begin();                    // SPI drivers
//SERIAL_PORT.begin(115200);      // HW UART drivers
// driver.beginSerial(115200);     // SW UART drivers

  driver.begin();                 //  SPI: Init CS pins and possible SW SPI pins
                                  // UART: Init SW UART (if selected) with default 115200 baudrate

  driver.push();
  driver.rms_current(300);        // Set motor RMS current
  driver.microsteps(MICROSTEPS);          // Set microsteps to 1/16th
  // driver.irun(10);
  // driver.ihold(10);

  // 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);

  // driver.TCOOLTHRS(0xFFFFF); // 20bit max
  // driver.semin(5);
  // driver.semax(2);
  // driver.sedn(0b01);
  // driver.SGTHRS(64);
  driver.toff(4);                 // Enables driver in software


// driver.en_pwm_mode(true);       // Toggle stealthChop on TMC2130/2160/5130/5160
  // driver.pwm_autoscale(true);     // Needed for stealthChop

  // delay(200);
  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"));
}

bool shaft = false;
unsigned int stepsDelay = 28000 / MICROSTEPS;
bool shouldRun = true;

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("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) {
    for (uint32_t i = 100; i>0; i--) {
      digitalWrite(STEP_PIN, HIGH);
      delayMicroseconds(5);
      digitalWrite(STEP_PIN, LOW);
      delayMicroseconds(stepsDelay);

      // if (digitalRead(DIAG_PIN) == HIGH) {
      //   Serial.println("STALL");
      // }
    }

    if (driver.SG_RESULT() > 105) {
      shaft = !shaft;
      driver.shaft(shaft);
    }

    // Serial.println(driver.SG_RESULT(), DEC);
    // Serial.print(" ");
    // Serial.print(digitalRead(DIAG_PIN), DEC);
    // Serial.print(" ");
    // Serial.println(driver.cs2rms(driver.cs_actual()), DEC);
  }
}