diff options
Diffstat (limited to 'ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/examples/TMC26XMotorTester/Serial.ino')
| -rwxr-xr-x | ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/examples/TMC26XMotorTester/Serial.ino | 369 |
1 files changed, 369 insertions, 0 deletions
diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/examples/TMC26XMotorTester/Serial.ino b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/examples/TMC26XMotorTester/Serial.ino new file mode 100755 index 000000000..0a030098c --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/examples/TMC26XMotorTester/Serial.ino @@ -0,0 +1,369 @@ +/* + TMC26XMotorTest.ino - - TMC26X Stepper library tester for Wiring/Arduino + + 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. + + */ + #define INPUT_BUFFER_LENGTH 32 + +#define SERIAL_SPEED 115200 +#define STATUS_COUNTER 100 + +char inputBuffer[INPUT_BUFFER_LENGTH+1]; //ad on character to keep the trainling 0 +unsigned char inputBufferPosition; + +void startSerial() { + Serial.begin(SERIAL_SPEED); + Serial.println(F("=================================")); + Serial.println(F("TMC26X Stepper Driver Motor Tester")); + Serial.println(F("=================================")); + //empty the input buffer + for (unsigned char i=0; i< INPUT_BUFFER_LENGTH+1; i++) { + inputBuffer[i]=0; + } + inputBufferPosition=0; +} + +void loopSerial() { + if (Serial.available()>0 && inputBufferPosition<INPUT_BUFFER_LENGTH) { + char c = Serial.read(); + //Read the char + inputBuffer[inputBufferPosition]=c; + inputBufferPosition++; + //always terminate the string + inputBuffer[inputBufferPosition]=0; + //and if the line ended we execute the command + if (c=='\n') { + executeSerialCommand(); + } + } + if (motor_moved) { + Serial.print("#sg"); + Serial.print(tmc26XStepper.getCurrentStallGuardReading(),DEC); + Serial.print(",p"); + Serial.print(tmc26XStepper.getMotorPosition(),DEC); + Serial.print(",k"); + Serial.print(tmc26XStepper.getCurrentCurrent(),DEC); + Serial.println(','); + motor_moved=0; + } + if (motor_counter>STATUS_COUNTER) { + motor_counter=0; + char moving = tmc26XStepper.isMoving(); + Serial.print('#'); + if (moving) { + Serial.print('r'); + } + else { + Serial.print('s'); + } + Serial.print(','); + Serial.print('d'); + Serial.print(direction); + Serial.print(','); + Serial.print("c"); + Serial.print(tmc26XStepper.getCurrent(),DEC); + Serial.print(','); + Serial.print('S'); + Serial.print(tmc26XStepper.getSpeed(),DEC); + Serial.print(','); + Serial.print('m'); + Serial.print(tmc26XStepper.getMicrosteps(),DEC); + Serial.print(','); + Serial.print("t"); + Serial.print(tmc26XStepper.getStallGuardThreshold(),DEC); + Serial.print(','); + Serial.print('f'); + Serial.print(tmc26XStepper.getStallGuardFilter(),DEC); + Serial.print(','); + //print out the general cool step config + if (tmc26XStepper.isCoolStepEnabled()) { + Serial.print("Ke+,"); + } + else { + Serial.print("Ke-,"); + } + Serial.print("Kl"); + Serial.print(tmc26XStepper.getCoolStepLowerSgThreshold(),DEC); + Serial.print(",Ku"); + Serial.print(tmc26XStepper.getCoolStepUpperSgThreshold(),DEC); + Serial.print(",Kn"); + Serial.print(tmc26XStepper.getCoolStepNumberOfSGReadings(),DEC); + Serial.print(",Ki"); + Serial.print(tmc26XStepper.getCoolStepCurrentIncrementSize(),DEC); + Serial.print(",Km"); + Serial.print(tmc26XStepper.getCoolStepLowerCurrentLimit(),DEC); + Serial.print(','); + //detect the winding status + if (tmc26XStepper.isOpenLoadA()) { + Serial.print("ao,"); + } + else if(tmc26XStepper.isShortToGroundA()) { + Serial.print("ag,"); + } + else { + Serial.print("a-,"); + } + //detect the winding status + if (tmc26XStepper.isOpenLoadB()) { + Serial.print("bo,"); + } + else if(tmc26XStepper.isShortToGroundB()) { + Serial.print("bg,"); + } + else { + Serial.print("b-,"); + } + char temperature = tmc26XStepper.getOverTemperature(); + if (temperature==0) { + Serial.print("x-,"); + } + else if (temperature==TMC26X_OVERTEMPERATURE_PREWARING) { + Serial.print("xw,"); + } + else { + Serial.print("xe,"); + } + if (tmc26XStepper.isEnabled()) { + Serial.print("e1,"); + } + else { + Serial.print("e0,"); + } + //write out the current chopper config + Serial.print("Cm"); + Serial.print(chopperMode,DEC); + Serial.print(",Co"); + Serial.print(t_off,DEC); + Serial.print(",Cb"); + Serial.print(t_blank,DEC); + if (chopperMode==0) { + Serial.print(",Cs"); + Serial.print(h_start,DEC); + Serial.print(",Ce"); + Serial.print(h_end,DEC); + Serial.print(",Cd"); + Serial.print(h_decrement,DEC); + } + Serial.print(','); + Serial.println(); + } +} + +void executeSerialCommand() { + Serial.print("Executing "); + Serial.println(inputBuffer); + //stimple runn & stop commands + switch(inputBuffer[0]) { + case 's': + running = 0; + break; + case 'r': + running = -1; + break; + case 'S': + { + int targetSpeed = decode(1); + setSpeed(targetSpeed); + } + break; + case 'm': + { + int microstepping = decode(1); + setMicrostepping(microstepping); + } + break; + case 't': + { + int threshold = decode(1); + setStallGuardThreshold(threshold); + } + break; + case 'f': + { + int filter = decode(1); + setStallGuardFilter(filter); + } + break; + case 'd': + { + int value = decode(1); + tmc26XStepper.stop(); + if (value<0) { + direction=-1; + } + else { + direction=1; + } + } + break; + case 'c': + { + int current = decode(1); + setCurrent(current); + } + break; + case 'e': + { + int enabled = decode(1); + if (enabled) { + tmc26XStepper.setEnabled(true); + } + else { + tmc26XStepper.setEnabled(false); + } + } + break; + case 'C': + switch(inputBuffer[1]) { + case 'o': + { + int value = decode(2); + if (value>0 && value<16) { + t_off=value; + updateChopper(); + } + } + break; + case 'b': + { + int value = decode(2); + if (value>=0 && value<=3) { + t_blank=value; + updateChopper(); + } + } + break; + case 's': + { + int value = decode(2); + if (value>=0 && value<=8) { + h_start=value; + updateChopper(); + } + } + break; + case 'e': + { + int value = decode(2); + if (value>=-3 && value<=12) { + h_end=value; + updateChopper(); + } + } + break; + case 'd': + { + int value = decode(2); + if (value>=0 && value<=3) { + h_decrement=value; + updateChopper(); + } + } + break; + } + break; + case 'K': + switch(inputBuffer[1]) { + case '+': + tmc26XStepper.setCoolStepEnabled(true); + break; + case '-': + tmc26XStepper.setCoolStepEnabled(false); + break; + case 'l': + { + int value = decode(2); + if (value>=0 && value<480) { + lower_SG_threshold=value; + updateCoolStep(); + } + } + break; + case 'u': + { + int value = decode(2); + if (value>=0 && value<480) { + upper_SG_threshold=value; + updateCoolStep(); + } + } + break; + case 'n': + { + int value = decode(2); + if (value>=0 && value<4) { + number_of_SG_readings=value; + updateCoolStep(); + } + } + break; + case 'i': + { + int value = decode(2); + if (value>=0 && value<4) { + current_increment_step_size=value; + updateCoolStep(); + } + } + break; + case 'm': + { + int value = decode(2); + if (value>=0 && value<2) { + lower_current_limit=value; + updateCoolStep(); + } + } + break; + } + break; + } + //at the end delete buffer + inputBufferPosition=0; + inputBuffer[0]=0; +} + +int decode(unsigned char startPosition) { + int result=0; + boolean negative = false; + if (inputBuffer[startPosition]=='-') { + negative=true; + startPosition++; + } + for (unsigned char i=startPosition; i< (INPUT_BUFFER_LENGTH+1) && inputBuffer[i]!=0; i++) { + char number = inputBuffer[i]; + //this very dumb approac can lead to errors, but we expect only numbers after the command anyway + if (number <= '9' && number >='0') { + result *= 10; + result += number - '0'; + } + } + if (negative) { + return -result; + } + else { + return result; + } +} + + + |