125 lines
3.4 KiB
Arduino
125 lines
3.4 KiB
Arduino
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#define EN_PIN 17 // D1
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#define DIR_PIN 3 // D2
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#define STEP_PIN 1 // D3
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#define CS_PIN 16 // D8
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#define MOSI_PIN 23 // D7
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#define MISO_PIN 19 // D6
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#define SCK_PIN 18 // D5
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// bool dir = true;
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// #include <TMC2130Stepper.h>
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// TMC2130Stepper driver = TMC2130Stepper(EN_PIN, DIR_PIN, STEP_PIN, CS_PIN, MOSI_PIN, MISO_PIN, SCK_PIN);
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// void setup() {
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// Serial.begin(115200);
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// while(!Serial);
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// Serial.println("Start...");
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// driver.begin(); // Initiate pins and registeries
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// driver.rms_current(1200); // Set stepper current to 600mA. The command is the same as command TMC2130.setCurrent(600, 0.11, 0.5);
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// driver.stealthChop(1); // Enable extremely quiet stepping
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// driver.microsteps(0);
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// Serial.println(driver.microsteps()); // shows microsteps setting
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// digitalWrite(EN_PIN, LOW);
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// Serial.print("DRV_STATUS=0b");
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// Serial.println(driver.DRV_STATUS(), BIN);
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// }
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// void loop() {
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// digitalWrite(STEP_PIN, HIGH);
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// //delayMicroseconds(10);
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// delay(50);
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// digitalWrite(STEP_PIN, LOW);
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// //delayMicroseconds(10);
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// delay(50);
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// uint32_t ms = millis();
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// static uint32_t last_time = 0;
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// if ((ms - last_time) > 3000) {
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// if (dir) {
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// Serial.println("Dir -> 0");
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// driver.shaft_dir(0);
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// } else {
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// Serial.println("Dir -> 1");
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// driver.shaft_dir(1);
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// }
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// dir = !dir;
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// last_time = ms;
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// }
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// }
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bool dir = true;
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#define TMC2130DEBUG
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#include <TMC2130Stepper.h>
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// Soft SPI
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TMC2130Stepper driver = TMC2130Stepper(EN_PIN, DIR_PIN, STEP_PIN, CS_PIN, MOSI_PIN, MISO_PIN, SCK_PIN);
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// Hard SPI
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//TMC2130Stepper driver = TMC2130Stepper(EN_PIN, DIR_PIN, STEP_PIN, CS_PIN);
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void setup()
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{
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Serial.begin(9600);
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while (!Serial)
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;
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Serial.println("Start...");
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driver.begin(); // Initiate pins and registeries
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driver.rms_current(1200); // Set stepper current to 600mA. The command is the same as command TMC2130.setCurrent(600, 0.11, 0.5);
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driver.microsteps(16);
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driver.stealthChop(1); // Enable extremely quiet stepping
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digitalWrite(EN_PIN, LOW);
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Serial.print("DRV_STATUS=0b");
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Serial.println(driver.DRV_STATUS(), BIN);
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}
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bool isKilled = false;
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void loop()
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{
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if (driver.checkOT())
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{
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if (!isKilled)
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{
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Serial.print("Overheat flag triggered: ");
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Serial.println(driver.getOTPW(), DEC);
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driver.TPOWERDOWN();
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isKilled = true;
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Serial.println("Program stopped");
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}
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else
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{
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delay(1000);
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}
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}
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else
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{
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digitalWrite(STEP_PIN, HIGH);
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delayMicroseconds(10);
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digitalWrite(STEP_PIN, LOW);
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delayMicroseconds(10);
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uint32_t ms = millis();
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static uint32_t last_time = 0;
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if ((ms - last_time) > 500)
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{
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if (dir)
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{
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Serial.println("Dir -> 0");
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driver.shaft_dir(0);
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}
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else
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{
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Serial.println("Dir -> 1");
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driver.shaft_dir(1);
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}
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Serial.print("OverTemperature: ");
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Serial.print(driver.getOTPW(), DEC);
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Serial.print(" MSTEP: ");
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Serial.print(driver.microsteps(), DEC);
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Serial.print(" DIR: ");
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Serial.println(driver.dir(), DEC);
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dir = !dir;
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last_time = ms;
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}
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}
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}
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