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Diffstat (limited to 'ArduinoAddons/Arduino_1.6.x/libraries/TMC26XStepper/TMC26XStepper.cpp')
| -rwxr-xr-x | ArduinoAddons/Arduino_1.6.x/libraries/TMC26XStepper/TMC26XStepper.cpp | 999 |
1 files changed, 999 insertions, 0 deletions
diff --git a/ArduinoAddons/Arduino_1.6.x/libraries/TMC26XStepper/TMC26XStepper.cpp b/ArduinoAddons/Arduino_1.6.x/libraries/TMC26XStepper/TMC26XStepper.cpp new file mode 100755 index 000000000..389264ca4 --- /dev/null +++ b/ArduinoAddons/Arduino_1.6.x/libraries/TMC26XStepper/TMC26XStepper.cpp @@ -0,0 +1,999 @@ +/* + TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino + + based on the stepper library by Tom Igoe, et. al. + + Copyright (c) 2011, Interactive Matter, Marcus Nowotny + + Permission is hereby granted, free of charge, to any person obtaining a copy + of this software and associated documentation files (the "Software"), to deal + in the Software without restriction, including without limitation the rights + to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + THE SOFTWARE. + + */ + +#if defined(ARDUINO) && ARDUINO >= 100 + #include <Arduino.h> +#else + #include <WProgram.h> +#endif +#include <SPI.h> +#include "TMC26XStepper.h" + +//some default values used in initialization +#define DEFAULT_MICROSTEPPING_VALUE 32 + +//TMC26X register definitions +#define DRIVER_CONTROL_REGISTER 0x0ul +#define CHOPPER_CONFIG_REGISTER 0x80000ul +#define COOL_STEP_REGISTER 0xA0000ul +#define STALL_GUARD2_LOAD_MEASURE_REGISTER 0xC0000ul +#define DRIVER_CONFIG_REGISTER 0xE0000ul + +#define REGISTER_BIT_PATTERN 0xFFFFFul + +//definitions for the driver control register +#define MICROSTEPPING_PATTERN 0xFul +#define STEP_INTERPOLATION 0x200ul +#define DOUBLE_EDGE_STEP 0x100ul +#define VSENSE 0x40ul +#define READ_MICROSTEP_POSTION 0x0ul +#define READ_STALL_GUARD_READING 0x10ul +#define READ_STALL_GUARD_AND_COOL_STEP 0x20ul +#define READ_SELECTION_PATTERN 0x30ul + +//definitions for the chopper config register +#define CHOPPER_MODE_STANDARD 0x0ul +#define CHOPPER_MODE_T_OFF_FAST_DECAY 0x4000ul +#define T_OFF_PATTERN 0xful +#define RANDOM_TOFF_TIME 0x2000ul +#define BLANK_TIMING_PATTERN 0x18000ul +#define BLANK_TIMING_SHIFT 15 +#define HYSTERESIS_DECREMENT_PATTERN 0x1800ul +#define HYSTERESIS_DECREMENT_SHIFT 11 +#define HYSTERESIS_LOW_VALUE_PATTERN 0x780ul +#define HYSTERESIS_LOW_SHIFT 7 +#define HYSTERESIS_START_VALUE_PATTERN 0x78ul +#define HYSTERESIS_START_VALUE_SHIFT 4 +#define T_OFF_TIMING_PATERN 0xFul + +//definitions for cool step register +#define MINIMUM_CURRENT_FOURTH 0x8000ul +#define CURRENT_DOWN_STEP_SPEED_PATTERN 0x6000ul +#define SE_MAX_PATTERN 0xF00ul +#define SE_CURRENT_STEP_WIDTH_PATTERN 0x60ul +#define SE_MIN_PATTERN 0xful + +//definitions for stall guard2 current register +#define STALL_GUARD_FILTER_ENABLED 0x10000ul +#define STALL_GUARD_TRESHHOLD_VALUE_PATTERN 0x17F00ul +#define CURRENT_SCALING_PATTERN 0x1Ful +#define STALL_GUARD_CONFIG_PATTERN 0x17F00ul +#define STALL_GUARD_VALUE_PATTERN 0x7F00ul + +//definitions for the input from the TCM260 +#define STATUS_STALL_GUARD_STATUS 0x1ul +#define STATUS_OVER_TEMPERATURE_SHUTDOWN 0x2ul +#define STATUS_OVER_TEMPERATURE_WARNING 0x4ul +#define STATUS_SHORT_TO_GROUND_A 0x8ul +#define STATUS_SHORT_TO_GROUND_B 0x10ul +#define STATUS_OPEN_LOAD_A 0x20ul +#define STATUS_OPEN_LOAD_B 0x40ul +#define STATUS_STAND_STILL 0x80ul +#define READOUT_VALUE_PATTERN 0xFFC00ul + +//default values +#define INITIAL_MICROSTEPPING 0x3ul //32th microstepping + +//debuging output +//#define DEBUG + +/* + * Constructor + * number_of_steps - the steps per rotation + * cs_pin - the SPI client select pin + * dir_pin - the pin where the direction pin is connected + * step_pin - the pin where the step pin is connected + */ +TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor) +{ + //we are not started yet + started=false; + //by default cool step is not enabled + cool_step_enabled=false; + + //save the pins for later use + this->cs_pin=cs_pin; + this->dir_pin=dir_pin; + this->step_pin = step_pin; + + //store the current sense resistor value for later use + this->resistor = resistor; + + //initizalize our status values + this->steps_left = 0; + this->direction = 0; + + //initialize register values + driver_control_register_value=DRIVER_CONTROL_REGISTER | INITIAL_MICROSTEPPING; + chopper_config_register=CHOPPER_CONFIG_REGISTER; + + //setting the default register values + driver_control_register_value=DRIVER_CONTROL_REGISTER|INITIAL_MICROSTEPPING; + microsteps = (1 << INITIAL_MICROSTEPPING); + chopper_config_register=CHOPPER_CONFIG_REGISTER; + cool_step_register_value=COOL_STEP_REGISTER; + stall_guard2_current_register_value=STALL_GUARD2_LOAD_MEASURE_REGISTER; + driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING; + + //set the current + setCurrent(current); + //set to a conservative start value + setConstantOffTimeChopper(7, 54, 13,12,1); + //set a nice microstepping value + setMicrosteps(DEFAULT_MICROSTEPPING_VALUE); + //save the number of steps + this->number_of_steps = number_of_steps; +} + + +/* + * start & configure the stepper driver + * just must be called. + */ +void TMC26XStepper::start() { + +#ifdef DEBUG + Serial.println("TMC26X stepper library"); + Serial.print("CS pin: "); + Serial.println(cs_pin); + Serial.print("DIR pin: "); + Serial.println(dir_pin); + Serial.print("STEP pin: "); + Serial.println(step_pin); + Serial.print("current scaling: "); + Serial.println(current_scaling,DEC); +#endif + //set the pins as output & its initial value + pinMode(step_pin, OUTPUT); + pinMode(dir_pin, OUTPUT); + pinMode(cs_pin, OUTPUT); + digitalWrite(step_pin, LOW); + digitalWrite(dir_pin, LOW); + digitalWrite(cs_pin, HIGH); + + //configure the SPI interface + SPI.setBitOrder(MSBFIRST); + SPI.setClockDivider(SPI_CLOCK_DIV8); + //todo this does not work reliably - find a way to foolprof set it (e.g. while communicating + //SPI.setDataMode(SPI_MODE3); + SPI.begin(); + + //set the initial values + send262(driver_control_register_value); + send262(chopper_config_register); + send262(cool_step_register_value); + send262(stall_guard2_current_register_value); + send262(driver_configuration_register_value); + + //save that we are in running mode + started=true; +} + +/* + Mark the driver as unstarted to be able to start it again + */ +void TMC26XStepper::un_start() { + started=false; +} + + +/* + Sets the speed in revs per minute + +*/ +void TMC26XStepper::setSpeed(unsigned int whatSpeed) +{ + this->speed = whatSpeed; + this->step_delay = (60UL * 1000UL * 1000UL) / ((unsigned long)this->number_of_steps * (unsigned long)whatSpeed * (unsigned long)this->microsteps); +#ifdef DEBUG + Serial.print("Step delay in micros: "); + Serial.println(this->step_delay); +#endif + //update the next step time + this->next_step_time = this->last_step_time+this->step_delay; + +} + +unsigned int TMC26XStepper::getSpeed(void) { + return this->speed; +} + +/* + Moves the motor steps_to_move steps. If the number is negative, + the motor moves in the reverse direction. + */ +char TMC26XStepper::step(int steps_to_move) +{ + if (this->steps_left==0) { + this->steps_left = abs(steps_to_move); // how many steps to take + + // determine direction based on whether steps_to_mode is + or -: + if (steps_to_move > 0) { + this->direction = 1; + } else if (steps_to_move < 0) { + this->direction = 0; + } + return 0; + } else { + return -1; + } +} + +char TMC26XStepper::move(void) { + // decrement the number of steps, moving one step each time: + if(this->steps_left>0) { + unsigned long time = micros(); + // move only if the appropriate delay has passed: + if (time >= this->next_step_time) { + // increment or decrement the step number, + // depending on direction: + if (this->direction == 1) { + digitalWrite(step_pin, HIGH); + } else { + digitalWrite(dir_pin, HIGH); + digitalWrite(step_pin, HIGH); + } + // get the timeStamp of when you stepped: + this->last_step_time = time; + this->next_step_time = time+this->step_delay; + // decrement the steps left: + steps_left--; + //disable the step & dir pins + digitalWrite(step_pin, LOW); + digitalWrite(dir_pin, LOW); + } + return -1; + } + return 0; +} + +char TMC26XStepper::isMoving(void) { + return (this->steps_left>0); +} + +unsigned int TMC26XStepper::getStepsLeft(void) { + return this->steps_left; +} + +char TMC26XStepper::stop(void) { + //note to self if the motor is currently moving + char state = isMoving(); + //stop the motor + this->steps_left = 0; + this->direction = 0; + //return if it was moving + return state; +} + +void TMC26XStepper::setCurrent(unsigned int current) { + unsigned char current_scaling = 0; + //calculate the current scaling from the max current setting (in mA) + double mASetting = (double)current; + double resistor_value = (double) this->resistor; + // remove vesense flag + this->driver_configuration_register_value &= ~(VSENSE); + //this is derrived from I=(cs+1)/32*(Vsense/Rsense) + //leading to cs = CS = 32*R*I/V (with V = 0,31V oder 0,165V and I = 1000*current) + //with Rsense=0,15 + //for vsense = 0,310V (VSENSE not set) + //or vsense = 0,165V (VSENSE set) + current_scaling = (byte)((resistor_value*mASetting*32.0/(0.31*1000.0*1000.0))-0.5); //theoretically - 1.0 for better rounding it is 0.5 + + //check if the current scalingis too low + if (current_scaling<16) { + //set the csense bit to get a use half the sense voltage (to support lower motor currents) + this->driver_configuration_register_value |= VSENSE; + //and recalculate the current setting + current_scaling = (byte)((resistor_value*mASetting*32.0/(0.165*1000.0*1000.0))-0.5); //theoretically - 1.0 for better rounding it is 0.5 +#ifdef DEBUG + Serial.print("CS (Vsense=1): "); + Serial.println(current_scaling); + } else { + Serial.print("CS: "); + Serial.println(current_scaling); +#endif + } + + //do some sanity checks + if (current_scaling>31) { + current_scaling=31; + } + //delete the old value + stall_guard2_current_register_value &= ~(CURRENT_SCALING_PATTERN); + //set the new current scaling + stall_guard2_current_register_value |= current_scaling; + //if started we directly send it to the motor + if (started) { + send262(driver_configuration_register_value); + send262(stall_guard2_current_register_value); + } +} + +unsigned int TMC26XStepper::getCurrent(void) { + //we calculate the current according to the datasheet to be on the safe side + //this is not the fastest but the most accurate and illustrative way + double result = (double)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN); + double resistor_value = (double)this->resistor; + double voltage = (driver_configuration_register_value & VSENSE)? 0.165:0.31; + result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0; + return (unsigned int)result; +} + +void TMC26XStepper::setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled) { + if (stall_guard_threshold<-64) { + stall_guard_threshold = -64; + //We just have 5 bits + } else if (stall_guard_threshold > 63) { + stall_guard_threshold = 63; + } + //add trim down to 7 bits + stall_guard_threshold &=0x7f; + //delete old stall guard settings + stall_guard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN); + if (stall_guard_filter_enabled) { + stall_guard2_current_register_value |= STALL_GUARD_FILTER_ENABLED; + } + //Set the new stall guard threshold + stall_guard2_current_register_value |= (((unsigned long)stall_guard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN); + //if started we directly send it to the motor + if (started) { + send262(stall_guard2_current_register_value); + } +} + +char TMC26XStepper::getStallGuardThreshold(void) { + unsigned long stall_guard_threshold = stall_guard2_current_register_value & STALL_GUARD_VALUE_PATTERN; + //shift it down to bit 0 + stall_guard_threshold >>=8; + //convert the value to an int to correctly handle the negative numbers + char result = stall_guard_threshold; + //check if it is negative and fill it up with leading 1 for proper negative number representation + if (result & _BV(6)) { + result |= 0xC0; + } + return result; +} + +char TMC26XStepper::getStallGuardFilter(void) { + if (stall_guard2_current_register_value & STALL_GUARD_FILTER_ENABLED) { + return -1; + } else { + return 0; + } +} +/* + * Set the number of microsteps per step. + * 0,2,4,8,16,32,64,128,256 is supported + * any value in between will be mapped to the next smaller value + * 0 and 1 set the motor in full step mode + */ +void TMC26XStepper::setMicrosteps(int number_of_steps) { + long setting_pattern; + //poor mans log + if (number_of_steps>=256) { + setting_pattern=0; + microsteps=256; + } else if (number_of_steps>=128) { + setting_pattern=1; + microsteps=128; + } else if (number_of_steps>=64) { + setting_pattern=2; + microsteps=64; + } else if (number_of_steps>=32) { + setting_pattern=3; + microsteps=32; + } else if (number_of_steps>=16) { + setting_pattern=4; + microsteps=16; + } else if (number_of_steps>=8) { + setting_pattern=5; + microsteps=8; + } else if (number_of_steps>=4) { + setting_pattern=6; + microsteps=4; + } else if (number_of_steps>=2) { + setting_pattern=7; + microsteps=2; + //1 and 0 lead to full step + } else if (number_of_steps<=1) { + setting_pattern=8; + microsteps=1; + } +#ifdef DEBUG + Serial.print("Microstepping: "); + Serial.println(microsteps); +#endif + //delete the old value + this->driver_control_register_value &=0xFFFF0ul; + //set the new value + this->driver_control_register_value |=setting_pattern; + + //if started we directly send it to the motor + if (started) { + send262(driver_control_register_value); + } + //recalculate the stepping delay by simply setting the speed again + this->setSpeed(this->speed); +} + +/* + * returns the effective number of microsteps at the moment + */ +int TMC26XStepper::getMicrosteps(void) { + return microsteps; +} + +/* + * constant_off_time: The off time setting controls the minimum chopper frequency. + * For most applications an off time within the range of 5μs to 20μs will fit. + * 2...15: off time setting + * + * blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the + * duration of the ringing on the sense resistor. For + * 0: min. setting 3: max. setting + * + * fast_decay_time_setting: Fast decay time setting. With CHM=1, these bits control the portion of fast decay for each chopper cycle. + * 0: slow decay only + * 1...15: duration of fast decay phase + * + * sine_wave_offset: Sine wave offset. With CHM=1, these bits control the sine wave offset. + * A positive offset corrects for zero crossing error. + * -3..-1: negative offset 0: no offset 1...12: positive offset + * + * use_current_comparator: Selects usage of the current comparator for termination of the fast decay cycle. + * If current comparator is enabled, it terminates the fast decay cycle in case the current + * reaches a higher negative value than the actual positive value. + * 1: enable comparator termination of fast decay cycle + * 0: end by time only + */ +void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator) { + //perform some sanity checks + if (constant_off_time<2) { + constant_off_time=2; + } else if (constant_off_time>15) { + constant_off_time=15; + } + //save the constant off time + this->constant_off_time = constant_off_time; + char blank_value; + //calculate the value acc to the clock cycles + if (blank_time>=54) { + blank_value=3; + } else if (blank_time>=36) { + blank_value=2; + } else if (blank_time>=24) { + blank_value=1; + } else { + blank_value=0; + } + if (fast_decay_time_setting<0) { + fast_decay_time_setting=0; + } else if (fast_decay_time_setting>15) { + fast_decay_time_setting=15; + } + if (sine_wave_offset < -3) { + sine_wave_offset = -3; + } else if (sine_wave_offset>12) { + sine_wave_offset = 12; + } + //shift the sine_wave_offset + sine_wave_offset +=3; + + //calculate the register setting + //first of all delete all the values for this + chopper_config_register &= ~((1<<12) | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN); + //set the constant off pattern + chopper_config_register |= CHOPPER_MODE_T_OFF_FAST_DECAY; + //set the blank timing value + chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT; + //setting the constant off time + chopper_config_register |= constant_off_time; + //set the fast decay time + //set msb + chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x8))<<HYSTERESIS_DECREMENT_SHIFT); + //other bits + chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x7))<<HYSTERESIS_START_VALUE_SHIFT); + //set the sine wave offset + chopper_config_register |= (unsigned long)sine_wave_offset << HYSTERESIS_LOW_SHIFT; + //using the current comparator? + if (!use_current_comparator) { + chopper_config_register |= (1<<12); + } + //if started we directly send it to the motor + if (started) { + send262(driver_control_register_value); + } +} + +/* + * constant_off_time: The off time setting controls the minimum chopper frequency. + * For most applications an off time within the range of 5μs to 20μs will fit. + * 2...15: off time setting + * + * blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the + * duration of the ringing on the sense resistor. For + * 0: min. setting 3: max. setting + * + * hysteresis_start: Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value HEND. + * 1...8 + * + * hysteresis_end: Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by HDEC. + * The sum HSTRT+HEND must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited. + * -3..-1: negative HEND 0: zero HEND 1...12: positive HEND + * + * hysteresis_decrement: Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time. + * 0: fast decrement 3: very slow decrement + */ + +void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement) { + //perform some sanity checks + if (constant_off_time<2) { + constant_off_time=2; + } else if (constant_off_time>15) { + constant_off_time=15; + } + //save the constant off time + this->constant_off_time = constant_off_time; + char blank_value; + //calculate the value acc to the clock cycles + if (blank_time>=54) { + blank_value=3; + } else if (blank_time>=36) { + blank_value=2; + } else if (blank_time>=24) { + blank_value=1; + } else { + blank_value=0; + } + if (hysteresis_start<1) { + hysteresis_start=1; + } else if (hysteresis_start>8) { + hysteresis_start=8; + } + hysteresis_start--; + + if (hysteresis_end < -3) { + hysteresis_end = -3; + } else if (hysteresis_end>12) { + hysteresis_end = 12; + } + //shift the hysteresis_end + hysteresis_end +=3; + + if (hysteresis_decrement<0) { + hysteresis_decrement=0; + } else if (hysteresis_decrement>3) { + hysteresis_decrement=3; + } + + //first of all delete all the values for this + chopper_config_register &= ~(CHOPPER_MODE_T_OFF_FAST_DECAY | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN); + + //set the blank timing value + chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT; + //setting the constant off time + chopper_config_register |= constant_off_time; + //set the hysteresis_start + chopper_config_register |= ((unsigned long)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT; + //set the hysteresis end + chopper_config_register |= ((unsigned long)hysteresis_end) << HYSTERESIS_LOW_SHIFT; + //set the hystereis decrement + chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT; + //if started we directly send it to the motor + if (started) { + send262(driver_control_register_value); + } +} + +/* + * In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized. + * The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position. + * With some motors a slightly audible beat can occur between the chopper frequencies, especially when they are near to each other. This typically occurs at a + * few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc. + * Further factors which can cause a similar effect are a poor layout of sense resistor GND connection. + * Hint: A common factor, which can cause motor noise, is a bad PCB layout causing coupling of both sense resistor voltages + * (please refer to sense resistor layout hint in chapter 8.1). + * In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided. + * It modulates the slow decay time setting when switched on by the RNDTF bit. The RNDTF feature further spreads the chopper spectrum, + * reducing electromagnetic emission on single frequencies. + */ +void TMC26XStepper::setRandomOffTime(char value) { + if (value) { + chopper_config_register |= RANDOM_TOFF_TIME; + } else { + chopper_config_register &= ~(RANDOM_TOFF_TIME); + } + //if started we directly send it to the motor + if (started) { + send262(driver_control_register_value); + } +} + +void TMC26XStepper::setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size, + unsigned char current_increment_step_size, unsigned char lower_current_limit) { + //sanitize the input values + if (lower_SG_threshold>480) { + lower_SG_threshold = 480; + } + //divide by 32 + lower_SG_threshold >>=5; + if (SG_hysteresis>480) { + SG_hysteresis=480; + } + //divide by 32 + SG_hysteresis >>=5; + if (current_decrement_step_size>3) { + current_decrement_step_size=3; + } + if (current_increment_step_size>3) { + current_increment_step_size=3; + } + if (lower_current_limit>1) { + lower_current_limit=1; + } + //store the lower level in order to enable/disable the cool step + this->cool_step_lower_threshold=lower_SG_threshold; + //if cool step is not enabled we delete the lower value to keep it disabled + if (!this->cool_step_enabled) { + lower_SG_threshold=0; + } + //the good news is that we can start with a complete new cool step register value + //and simply set the values in the register + cool_step_register_value = ((unsigned long)lower_SG_threshold) | (((unsigned long)SG_hysteresis)<<8) | (((unsigned long)current_decrement_step_size)<<5) + | (((unsigned long)current_increment_step_size)<<13) | (((unsigned long)lower_current_limit)<<15) + //and of course we have to include the signature of the register + | COOL_STEP_REGISTER; + //Serial.println(cool_step_register_value,HEX); + if (started) { + send262(cool_step_register_value); + } +} + +void TMC26XStepper::setCoolStepEnabled(boolean enabled) { + //simply delete the lower limit to disable the cool step + cool_step_register_value &= ~SE_MIN_PATTERN; + //and set it to the proper value if cool step is to be enabled + if (enabled) { + cool_step_register_value |=this->cool_step_lower_threshold; + } + //and save the enabled status + this->cool_step_enabled = enabled; + //save the register value + if (started) { + send262(cool_step_register_value); + } +} + +boolean TMC26XStepper::isCoolStepEnabled(void) { + return this->cool_step_enabled; +} + +unsigned int TMC26XStepper::getCoolStepLowerSgThreshold() { + //we return our internally stored value - in order to provide the correct setting even if cool step is not enabled + return this->cool_step_lower_threshold<<5; +} + +unsigned int TMC26XStepper::getCoolStepUpperSgThreshold() { + return (unsigned char)((cool_step_register_value & SE_MAX_PATTERN)>>8)<<5; +} + +unsigned char TMC26XStepper::getCoolStepCurrentIncrementSize() { + return (unsigned char)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN)>>13); +} + +unsigned char TMC26XStepper::getCoolStepNumberOfSGReadings() { + return (unsigned char)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN)>>5); +} + +unsigned char TMC26XStepper::getCoolStepLowerCurrentLimit() { + return (unsigned char)((cool_step_register_value & MINIMUM_CURRENT_FOURTH)>>15); +} + +void TMC26XStepper::setEnabled(boolean enabled) { + //delete the t_off in the chopper config to get sure + chopper_config_register &= ~(T_OFF_PATTERN); + if (enabled) { + //and set the t_off time + chopper_config_register |= this->constant_off_time; + } + //if not enabled we don't have to do anything since we already delete t_off from the register + if (started) { + send262(chopper_config_register); + } +} + +boolean TMC26XStepper::isEnabled() { + if (chopper_config_register & T_OFF_PATTERN) { + return true; + } else { + return false; + } +} + +/* + * reads a value from the TMC26X status register. The value is not obtained directly but can then + * be read by the various status routines. + * + */ +void TMC26XStepper::readStatus(char read_value) { + unsigned long old_driver_configuration_register_value = driver_configuration_register_value; + //reset the readout configuration + driver_configuration_register_value &= ~(READ_SELECTION_PATTERN); + //this now equals TMC26X_READOUT_POSITION - so we just have to check the other two options + if (read_value == TMC26X_READOUT_STALLGUARD) { + driver_configuration_register_value |= READ_STALL_GUARD_READING; + } else if (read_value == TMC26X_READOUT_CURRENT) { + driver_configuration_register_value |= READ_STALL_GUARD_AND_COOL_STEP; + } + //all other cases are ignored to prevent funny values + //check if the readout is configured for the value we are interested in + if (driver_configuration_register_value!=old_driver_configuration_register_value) { + //because then we need to write the value twice - one time for configuring, second time to get the value, see below + send262(driver_configuration_register_value); + } + //write the configuration to get the last status + send262(driver_configuration_register_value); +} + +int TMC26XStepper::getMotorPosition(void) { + //we read it out even if we are not started yet - perhaps it is useful information for somebody + readStatus(TMC26X_READOUT_POSITION); + return getReadoutValue(); +} + +//reads the stall guard setting from last status +//returns -1 if stallguard information is not present +int TMC26XStepper::getCurrentStallGuardReading(void) { + //if we don't yet started there cannot be a stall guard value + if (!started) { + return -1; + } + //not time optimal, but solution optiomal: + //first read out the stall guard value + readStatus(TMC26X_READOUT_STALLGUARD); + return getReadoutValue(); +} + +unsigned char TMC26XStepper::getCurrentCSReading(void) { + //if we don't yet started there cannot be a stall guard value + if (!started) { + return 0; + } + //not time optimal, but solution optiomal: + //first read out the stall guard value + readStatus(TMC26X_READOUT_CURRENT); + return (getReadoutValue() & 0x1f); +} + +unsigned int TMC26XStepper::getCurrentCurrent(void) { + double result = (double)getCurrentCSReading(); + double resistor_value = (double)this->resistor; + double voltage = (driver_configuration_register_value & VSENSE)? 0.165:0.31; + result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0; + return (unsigned int)result; +} + +/* + return true if the stallguard threshold has been reached +*/ +boolean TMC26XStepper::isStallGuardOverThreshold(void) { + if (!this->started) { + return false; + } + return (driver_status_result & STATUS_STALL_GUARD_STATUS); +} + +/* + returns if there is any over temperature condition: + OVER_TEMPERATURE_PREWARING if pre warning level has been reached + OVER_TEMPERATURE_SHUTDOWN if the temperature is so hot that the driver is shut down + Any of those levels are not too good. +*/ +char TMC26XStepper::getOverTemperature(void) { + if (!this->started) { + return 0; + } + if (driver_status_result & STATUS_OVER_TEMPERATURE_SHUTDOWN) { + return TMC26X_OVERTEMPERATURE_SHUTDOWN; + } + if (driver_status_result & STATUS_OVER_TEMPERATURE_WARNING) { + return TMC26X_OVERTEMPERATURE_PREWARING; + } + return 0; +} + +//is motor channel A shorted to ground +boolean TMC26XStepper::isShortToGroundA(void) { + if (!this->started) { + return false; + } + return (driver_status_result & STATUS_SHORT_TO_GROUND_A); +} + +//is motor channel B shorted to ground +boolean TMC26XStepper::isShortToGroundB(void) { + if (!this->started) { + return false; + } + return (driver_status_result & STATUS_SHORT_TO_GROUND_B); +} + +//is motor channel A connected +boolean TMC26XStepper::isOpenLoadA(void) { + if (!this->started) { + return false; + } + return (driver_status_result & STATUS_OPEN_LOAD_A); +} + +//is motor channel B connected +boolean TMC26XStepper::isOpenLoadB(void) { + if (!this->started) { + return false; + } + return (driver_status_result & STATUS_OPEN_LOAD_B); +} + +//is chopper inactive since 2^20 clock cycles - defaults to ~0,08s +boolean TMC26XStepper::isStandStill(void) { + if (!this->started) { + return false; + } + return (driver_status_result & STATUS_STAND_STILL); +} + +//is chopper inactive since 2^20 clock cycles - defaults to ~0,08s +boolean TMC26XStepper::isStallGuardReached(void) { + if (!this->started) { + return false; + } + return (driver_status_result & STATUS_STALL_GUARD_STATUS); +} + +//reads the stall guard setting from last status +//returns -1 if stallguard inforamtion is not present +int TMC26XStepper::getReadoutValue(void) { + return (int)(driver_status_result >> 10); +} + +int TMC26XStepper::getResistor() { + return this->resistor; +} + +boolean TMC26XStepper::isCurrentScalingHalfed() { + if (this->driver_configuration_register_value & VSENSE) { + return true; + } else { + return false; + } +} +/* + version() returns the version of the library: + */ +int TMC26XStepper::version(void) +{ + return 1; +} + +void TMC26XStepper::debugLastStatus() { +#ifdef DEBUG +if (this->started) { + if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_PREWARING) { + Serial.println("WARNING: Overtemperature Prewarning!"); + } else if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_SHUTDOWN) { + Serial.println("ERROR: Overtemperature Shutdown!"); + } + if (this->isShortToGroundA()) { + Serial.println("ERROR: SHORT to ground on channel A!"); + } + if (this->isShortToGroundB()) { + Serial.println("ERROR: SHORT to ground on channel A!"); + } + if (this->isOpenLoadA()) { + Serial.println("ERROR: Channel A seems to be unconnected!"); + } + if (this->isOpenLoadB()) { + Serial.println("ERROR: Channel B seems to be unconnected!"); + } + if (this->isStallGuardReached()) { + Serial.println("INFO: Stall Guard level reached!"); + } + if (this->isStandStill()) { + Serial.println("INFO: Motor is standing still."); + } + unsigned long readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN; + int value = getReadoutValue(); + if (readout_config == READ_MICROSTEP_POSTION) { + Serial.print("Microstep postion phase A: "); + Serial.println(value); + } else if (readout_config == READ_STALL_GUARD_READING) { + Serial.print("Stall Guard value:"); + Serial.println(value); + } else if (readout_config == READ_STALL_GUARD_AND_COOL_STEP) { + int stallGuard = value & 0xf; + int current = value & 0x1F0; + Serial.print("Approx Stall Guard: "); + Serial.println(stallGuard); + Serial.print("Current level"); + Serial.println(current); + } + } +#endif +} + +/* + * send register settings to the stepper driver via SPI + * returns the current status + */ +inline void TMC26XStepper::send262(unsigned long datagram) { + unsigned long i_datagram; + + //preserver the previous spi mode + unsigned char oldMode = SPCR & SPI_MODE_MASK; + + //if the mode is not correct set it to mode 3 + if (oldMode != SPI_MODE3) { + SPI.setDataMode(SPI_MODE3); + } + + //select the TMC driver + digitalWrite(cs_pin,LOW); + + //ensure that only valid bist are set (0-19) + //datagram &=REGISTER_BIT_PATTERN; + +#ifdef DEBUG + Serial.print("Sending "); + Serial.println(datagram,HEX); +#endif + + //write/read the values + i_datagram = SPI.transfer((datagram >> 16) & 0xff); + i_datagram <<= 8; + i_datagram |= SPI.transfer((datagram >> 8) & 0xff); + i_datagram <<= 8; + i_datagram |= SPI.transfer((datagram) & 0xff); + i_datagram >>= 4; + +#ifdef DEBUG + Serial.print("Received "); + Serial.println(i_datagram,HEX); + debugLastStatus(); +#endif + //deselect the TMC chip + digitalWrite(cs_pin,HIGH); + + //restore the previous SPI mode if neccessary + //if the mode is not correct set it to mode 3 + if (oldMode != SPI_MODE3) { + SPI.setDataMode(oldMode); + } + + + //store the datagram as status result + driver_status_result = i_datagram; +}
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