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Add shared UART with analog commutator and ChipSelect pin #2

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Add shared UART with analog commutator and ChipSelect pin #2

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980f4be
Add shared UART with analog commutator and ChipSelect pin
Dec 27, 2017
5e34967
Wait for TX to flush before disabling UART line
Jan 2, 2018
d09ece4
Add example for shared UART
Jan 2, 2018
108befd
Fix typo
Jan 2, 2018
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58 changes: 58 additions & 0 deletions examples/TMC2208_SharedUART/TMC2208_SharedUART.ino
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Original file line number Diff line number Diff line change
@@ -0,0 +1,58 @@
// Author Teemu Mantykallio, 2017-04-07

// Define pins
// 1st motor
#define EN_PIN_1 13 // LOW: Driver enabled. HIGH: Driver disabled
#define STEP_PIN_1 54 // Step on rising edge
#define CS_PIN_1 14 // driver UART select pin

// 2nd motor
#define EN_PIN_2 15 // LOW: Driver enabled. HIGH: Driver disabled
#define STEP_PIN_2 55 // Step on rising edge
#define CS_PIN_2 16 // driver UART select pin

#include <TMC2208Stepper.h> // Include library

#define SHARED_UART Serial1

TMC2208Stepper driver1 = TMC2208Stepper(&SHARED_UART, true, CS_PIN_1); // Create drivers and use SHARED_UART for bi-directional communication
TMC2208Stepper driver2 = TMC2208Stepper(&SHARED_UART, true, CS_PIN_2); // Create drivers and use SHARED_UART for bi-directional communication

void setup() {
SHARED_UART.begin(115200); // Init used serial port
while(!SHARED_UART); // Wait for port to be ready

// Prepare pins
pinMode(EN_PIN_1, OUTPUT);
pinMode(STEP_PIN_1, OUTPUT);

pinMode(EN_PIN_2, OUTPUT);
pinMode(STEP_PIN_2, OUTPUT);

// prepare drivers
driver1.pdn_disable(1); // Use PDN/UART pin for communication
driver1.replyDelay = 2; // Delay in ms to wait for driver to reply (on Due 1ms is enough)
driver1.I_scale_analog(0); // Adjust current from the registers
driver1.rms_current(500); // Set driver current 500mA
driver1.toff(0x2); // Enable driver
driver1.microsteps(32); // Set microsteps

digitalWrite(EN_PIN_1, LOW); // Enable driver


driver2.pdn_disable(1); // Use PDN/UART pin for communication
driver2.replyDelay = 2; // Delay in ms to wait for driver to reply (on Due 1ms is enough)
driver2.I_scale_analog(0); // Adjust current from the registers
driver2.rms_current(500); // Set driver current 500mA
driver2.toff(0x2); // Enable driver
driver1.microsteps(16); // Set microsteps

digitalWrite(EN_PIN_2, LOW); // Enable driver
}

void loop() {
digitalWrite(STEP_PIN_1, !digitalRead(STEP_PIN_1)); // Step
delay(2);
digitalWrite(STEP_PIN_2, !digitalRead(STEP_PIN_2)); // Step
delay(2);
}
4 changes: 2 additions & 2 deletions keywords.txt
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Expand Up @@ -80,9 +80,9 @@ cur_b KEYWORD2
CHOPCONF KEYWORD2
toff KEYWORD2
hstrt KEYWORD2
hysterisis_start KEYWORD2
hysteresis_start KEYWORD2
hend KEYWORD2
hysterisis_end KEYWORD2
hysteresis_end KEYWORD2
tbl KEYWORD2
vsense KEYWORD2
mres KEYWORD2
Expand Down
13 changes: 8 additions & 5 deletions src/TMC2208Stepper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,8 @@
class TMC2208Stepper {
public:
//TMC2208Stepper(HardwareSerial& serial);
TMC2208Stepper(Stream * serial, bool has_rx=true);
//TMC2208Stepper(Stream * serial, bool has_rx=true);
TMC2208Stepper(Stream * serial, bool has_rx=true, uint8_t cs_pin=0);
void rms_current(uint16_t mA, float multiplier=0.5, float RS=0.11);
uint16_t rms_current();
void microsteps(uint16_t ms);
Expand Down Expand Up @@ -113,9 +114,9 @@ class TMC2208Stepper {
void CHOPCONF(uint32_t input);
void toff(uint8_t B);
void hstrt(uint8_t B);
void hysterisis_start(uint8_t value);
void hysteresis_start(uint8_t value);
void hend(uint8_t B);
void hysterisis_end(int8_t value);
void hysteresis_end(int8_t value);
void tbl(uint8_t B);
void blank_time(uint8_t B);
void vsense(bool B);
Expand All @@ -127,9 +128,9 @@ class TMC2208Stepper {
bool CHOPCONF(uint32_t *data);
uint8_t toff();
uint8_t hstrt();
uint8_t hysterisis_start();
uint8_t hysteresis_start();
uint8_t hend();
int8_t hysterisis_end();
int8_t hysteresis_end();
uint8_t tbl();
uint8_t blank_time();
bool vsense();
Expand Down Expand Up @@ -182,6 +183,7 @@ class TMC2208Stepper {

bool isWriteOnly() {return write_only;}

uint8_t cs_pin() {return cs_pin_val;}
uint16_t bytesWritten = 0;
float Rsense = 0.11;
uint16_t replyDelay = 10;
Expand All @@ -207,6 +209,7 @@ class TMC2208Stepper {

bool write_only;
uint16_t mA_val = 0;
uint8_t cs_pin_val = 0;
};

#endif
25 changes: 24 additions & 1 deletion src/source/TMC2208Stepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,9 +3,14 @@
#include "TMC2208Stepper_MACROS.h"

//TMC2208Stepper::TMC2208Stepper(HardwareSerial& SR) : TMC_SERIAL(SR) {}
TMC2208Stepper::TMC2208Stepper(Stream * SR, bool has_rx) {
TMC2208Stepper::TMC2208Stepper(Stream * SR, bool has_rx, uint8_t cs_pin) {
TMC_SERIAL = SR;
write_only = !has_rx;
cs_pin_val = cs_pin;
if (cs_pin_val > 0) {
pinMode(cs_pin_val, OUTPUT);
digitalWrite(cs_pin_val, LOW);
}
}

/*
Expand Down Expand Up @@ -128,16 +133,30 @@ uint8_t TMC2208Stepper::calcCRC(uint8_t datagram[], uint8_t len) {
}

void TMC2208Stepper::sendDatagram(uint8_t addr, uint32_t regVal, uint8_t len) {
if (cs_pin_val > 0) {
digitalWrite ( cs_pin_val, HIGH );
}

uint8_t datagram[] = {TMC2208_SYNC, TMC2208_SLAVE_ADDR, addr, (uint8_t)(regVal>>24), (uint8_t)(regVal>>16), (uint8_t)(regVal>>8), (uint8_t)(regVal>>0), 0x00};

datagram[len] = calcCRC(datagram, len);

for(int i=0; i<=len; i++){
bytesWritten += TMC_SERIAL->write(datagram[i]);
}

TMC_SERIAL->flush(); // Wait for TX to finish

if (cs_pin_val > 0) {
digitalWrite ( cs_pin_val, LOW );
}
}

bool TMC2208Stepper::sendDatagram(uint8_t addr, uint32_t *data, uint8_t len) {
if (cs_pin_val > 0) {
digitalWrite ( cs_pin_val, HIGH );
}

uint8_t datagram[] = {TMC2208_SYNC, TMC2208_SLAVE_ADDR, addr, 0x00};
datagram[len] = calcCRC(datagram, len);

Expand All @@ -156,6 +175,10 @@ bool TMC2208Stepper::sendDatagram(uint8_t addr, uint32_t *data, uint8_t len) {
out |= res&0xFF;
}

if (cs_pin_val > 0) {
digitalWrite ( cs_pin_val, LOW );
}

uint8_t out_datagram[] = {(uint8_t)(out>>56), (uint8_t)(out>>48), (uint8_t)(out>>40), (uint8_t)(out>>32), (uint8_t)(out>>24), (uint8_t)(out>>16), (uint8_t)(out>>8), (uint8_t)(out>>0)};
if (calcCRC(out_datagram, 7) == (uint8_t)(out&0xFF)) {
*data = out>>8;
Expand Down
8 changes: 4 additions & 4 deletions src/source/TMC2208Stepper_CHOPCONF.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,8 +35,8 @@ bool TMC2208Stepper::dedge() { GET_BYTE(CHOPCONF, DEDGE); }
bool TMC2208Stepper::diss2g() { GET_BYTE(CHOPCONF, DISS2G); }
bool TMC2208Stepper::diss2vs() { GET_BYTE(CHOPCONF, DISS2VS); }

void TMC2208Stepper::hysterisis_end(int8_t value) { hend(value+3); }
int8_t TMC2208Stepper::hysterisis_end() { return hend()-3; };
void TMC2208Stepper::hysteresis_end(int8_t value) { hend(value+3); }
int8_t TMC2208Stepper::hysteresis_end() { return hend()-3; };

void TMC2208Stepper::hysterisis_start(uint8_t value) { hstrt(value-1); }
uint8_t TMC2208Stepper::hysterisis_start() { return hstrt()+1; }
void TMC2208Stepper::hysteresis_start(uint8_t value) { hstrt(value-1); }
uint8_t TMC2208Stepper::hysteresis_start() { return hstrt()+1; }