Hey everyone,
I'm trying to make the T4 work with TMC2130 Stepper Drivers so that I can use them without endstops. The following code works fine when I connect to my T4 with RPi but when I connect T4 to my Mac the T4 gives out wrong output from serial (Almost everything turns out to be 0 and stepper motor doesn't stop when it hits an obstacle. Everything works when my T4 is connected to Rpi). I'm wondering how I can fix this issue to continue my development from my laptop rather than RPi because it is too slow.
Board: My Custom board with T4 for controller
Rpi: Raspberry SC15184 Pi 4 Model B 2019 Quad Core 64 Bit WiFi Bluetooth (2GB), Arduino 1.8.10 with Teensyduino Addon
Macbook Pro, Catalina 10.15.3, Latest Teensyduino
Code:#include <TMC2130Stepper.h> #include <TMC2130Stepper_REGDEFS.h> #include <MeanFilterLib.h> // Motor Parameters // Parameters known to work for Z axis #define MOTOR_STEPS 200.0 // Steps per rev typically 200 (1.8°) to 400 (0.9°) #define MICROSTEPS 16 // [16] #define DRIVER_CURRENT_mA 900 // [900] Current in milliAmps #define MAX_SPEED_RPS 60 // [60] #define MIN_SPEED_RPS 1 // [1] #define INIT_SPEED_RPS 3 // [3] Final speed target for homing #define INIT_SPEED_ACTUAL 2 // [2] Initial speed of the stepper #define SPEED_INCR_VAL 0.2 // [0.2] Speed change per +,- inputs #define ACCEL_RATE 0.1 // [0.1] Speed change per DISPLAY_INTERVAL until target speed is reached #define INIT_SGT_VALUE 1 // [1] Initial StallGuardTreshold Value #define DISPLAY_INTERVAL 100 // In milliSeconds. How often to display values #define stepZ 32 #define csZ 31 #define enZ 30 uint32_t previousStep; // Holds the last time a step was made in milliSeconds. char buff[100]; bool dirZ = 1; // Stepper Driver Initialization TMC2130Stepper driverZ = TMC2130Stepper(csZ); bool vsense; volatile uint16_t speed_rps = INIT_SPEED_RPS; // initial speed int8_t sg_value = INIT_SGT_VALUE; // initial stallGuard Value float current_speed = INIT_SPEED_ACTUAL; float target_speed = INIT_SPEED_RPS; MeanFilter<long> meanFilter(10); uint16_t rms_current(uint8_t CS, float Rsense = 0.11) { return (float)(CS + 1) / 32.0 * (vsense ? 0.180 : 0.325) / (Rsense + 0.02) / 1.41421 * 1000; } // used to get step interval from RPM uint32_t step_interval_us(float rps) { uint32_t steps_per_second = ((MOTOR_STEPS * MICROSTEPS * rps)); return (1000000 / steps_per_second); } // setup timer to be used in stepping with interrupts. IntervalTimer stepTimer; //timer interrupt function void Step() { unsigned long currentMicros = micros(); digitalWrite(stepZ, HIGH); if (currentMicros - previousStep >= 1) { previousStep = micros(); digitalWrite(stepZ, LOW); } } void setup() { pinMode(enZ, OUTPUT); pinMode(stepZ, OUTPUT); pinMode(csZ, OUTPUT); digitalWrite(enZ, HIGH); //deactivate driver (LOW active) digitalWrite(stepZ, LOW); digitalWrite(csZ, HIGH); // menu Serial.begin(115200); //init serial port and set baudrate while (!Serial); Serial.println("\r\nTMC2130 StallGuard2 test program\r\n"); delay(1); Serial.println("'+' = faster"); delay(1); Serial.println("'-' = slower"); delay(1); Serial.println("'1' = run"); delay(1); Serial.println("'0' = pause"); delay(1); Serial.println("'r' = reverse"); delay(1); Serial.println("'i' = increase StallGuard Value"); delay(1); Serial.println("'d' = decrease StallGuard Value"); delay(1); Serial.println("Send '1' character to begin (\r\n"); delay(1); while (Serial.available() == 0) // Wait for the serial input. { } //SPI.begin(); driverZ.begin(); driverZ.push(); driverZ.toff(3); driverZ.tbl(1); driverZ.stealthChop(0); driverZ.hysteresis_start(4); driverZ.hysteresis_end(-2); driverZ.setCurrent(DRIVER_CURRENT_mA, 0.11, 0.5); driverZ.microsteps(MICROSTEPS); driverZ.coolstep_min_speed(0xFFFFF); driverZ.diag1_stall(1); driverZ.diag1_active_high(1); driverZ.THIGH(0); driverZ.semin(5); driverZ.semax(2); driverZ.sedn(0b01); driverZ.sg_stall_value(sg_value); //TMC2130 outputs on (LOW active) stepTimer.begin(Step, step_interval_us(current_speed)); digitalWrite(enZ, LOW); vsense = driverZ.vsense(); } void loop() { static uint32_t last_time = 0; uint32_t ms = millis(); stepTimer.update(step_interval_us(current_speed)); while (Serial.available() > 0) { int8_t read_byte = Serial.read(); if (read_byte == '0') { digitalWrite( enZ, HIGH ); current_speed = INIT_SPEED_ACTUAL; } else if (read_byte == '1') { digitalWrite( enZ, LOW ); } else if (read_byte == '+') { if (target_speed < MAX_SPEED_RPS) { target_speed += SPEED_INCR_VAL; Serial.print("Faster\r\n"); } } else if (read_byte == '-') { if (target_speed > MIN_SPEED_RPS) { target_speed -= SPEED_INCR_VAL; Serial.print("Slower\r\n"); } } else if (read_byte == 'r') { // reverse dirZ = !dirZ; driverZ.shaft_dir(dirZ); current_speed = INIT_SPEED_ACTUAL; if (dirZ == 1) { Serial.println("Up"); } else { Serial.println("Down"); } } else if (read_byte == 'i') { // increase stall value if (sg_value < 64) { sg_value++; driverZ.sg_stall_value(sg_value); } } else if (read_byte == 'd') { if (sg_value > -64) { sg_value--; driverZ.sg_stall_value(sg_value); } } } if ((ms - last_time) > DISPLAY_INTERVAL) //run every 0.01s { last_time = ms; uint32_t TSTEP = driverZ.TSTEP(); if (TSTEP != 0xFFFFF) { // if driver is stepping noInterrupts(); // Disable intterupts to get accurate reading from TMC2130 uint32_t drv_status = driverZ.DRV_STATUS(); int mean = meanFilter.AddValue((drv_status & STALLGUARD_bm) >> STALLGUARD_bp); if (((drv_status & STALLGUARD_bm) >> STALLGUARD_bp) == 1) { Serial.println("STALL DETECTED"); digitalWrite(enZ, HIGH); } sprintf(buff, "RPS:%2.1f SGT:%02d SGV:%04lu", current_speed, sg_value, (drv_status & SG_RESULT_bm) >> SG_RESULT_bp); Serial.print(buff); sprintf(buff, "TSTEP: %05lu", TSTEP); Serial.print(buff); sprintf(buff, "SG: %d I:04%lu \r\n", mean, (drv_status & CS_ACTUAL_bm) >> CS_ACTUAL_bp); Serial.print(buff); } if (fabs(current_speed - target_speed) >= ACCEL_RATE) { if (current_speed < target_speed) { current_speed += ACCEL_RATE; } else { current_speed -= ACCEL_RATE; } } interrupts(); // Enable intterupts to generate accurate Steps. } }
Reply With Quote
Originally Posted by defragster
... 
