So i've found this code from github that would allow control of a stepper motor using a TMC2209 using UART. I want to adapt this code to work with a TMC2300, which should be possible, as the features of the 2209 and 2300 are similar.
But i'm having issues connecting to the driver. Can't say if it's the driver address or something else?
According to the code the issue is: no power, which doesn't make sense. Everything is powered and working, I have testet the driver and motor using simple DIR/STEP.
The driver and the motor is currently powered by the 3.3v from arduino.
Any advice or help would be greatly appreciatet.
the code:
/**
* Author Milan Divkovic
*
* You can control the motor with following commands:
* 0: Disables the motor
* 1: Enables the motor
* + or -: Increase or decrease speed in respect to rotation direction
*/
#include <Arduino.h>
#include <TMCStepper.h>
#define STALL_VALUE 50 // [0... 255]
#define TOFF_VALUE 4 // [1... 15]
#define EN_PIN 6 // Enable pin
#define SW_RX 2 // SoftwareSerial receive pin
#define SW_TX 3 // SoftwareSerial transmit pin
//#define SERIAL_PORT Serial // HardwareSerial port
#define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2
#define R_SENSE 0.11f // Match to your driver
// SilentStepStick series use 0.11
// UltiMachine Einsy and Archim2 boards use 0.2
// Panucatt BSD2660 uses 0.1
// Watterott TMC5160 uses 0.075
// Select your stepper driver type
//TMC2209Stepper driver(&SERIAL_PORT, R_SENSE, DRIVER_ADDRESS);
TMC2209Stepper driver(SW_RX, SW_TX, R_SENSE, DRIVER_ADDRESS);
using namespace TMC2209_n;
int32_t speed = 5000;
void setup() {
Serial.begin(115200); // Init serial port and set baudrate
while(!Serial); // Wait for serial port to connect
Serial.println("\nStart...");
//SERIAL_PORT.begin(115200);
driver.beginSerial(115200);
driver.begin();
// Sets the slow decay time (off time) [1... 15]. This setting also limits
// the maximum chopper frequency. For operation with StealthChop,
// this parameter is not used, but it is required to enable the motor.
// In case of operation with StealthChop only, any setting is OK.
driver.toff(TOFF_VALUE);
// VACTUAL allows moving the motor by UART control.
// It gives the motor velocity in +-(2^23)-1 [μsteps / t]
// 0: Normal operation. Driver reacts to STEP input.
// /=0: Motor moves with the velocity given by VACTUAL.
// Step pulses can be monitored via INDEX output.
// The motor direction is controlled by the sign of VACTUAL.
driver.VACTUAL(speed);
// Comparator blank time. This time needs to safely cover the switching
// event and the duration of the ringing on the sense resistor. For most
// applications, a setting of 16 or 24 is good. For highly capacitive
// loads, a setting of 32 or 40 will be required.
driver.blank_time(24);
driver.rms_current(400); // mA
driver.microsteps(16);
// Lower threshold velocity for switching on smart energy CoolStep and StallGuard to DIAG output
driver.TCOOLTHRS(0xFFFFF); // 20bit max
// CoolStep lower threshold [0... 15].
// If SG_RESULT goes below this threshold, CoolStep increases the current to both coils.
// 0: disable CoolStep
driver.semin(5);
// CoolStep upper threshold [0... 15].
// If SG is sampled equal to or above this threshold enough times,
// CoolStep decreases the current to both coils.
driver.semax(2);
// Sets the number of StallGuard2 readings above the upper threshold necessary
// for each current decrement of the motor current.
driver.sedn(0b01);
// StallGuard4 threshold [0... 255] level for stall detection. It compensates for
// motor specific characteristics and controls sensitivity. A higher value gives a higher
// sensitivity. A higher value makes StallGuard4 more sensitive and requires less torque to
// indicate a stall. The double of this value is compared to SG_RESULT.
// The stall output becomes active if SG_RESULT fall below this value.
driver.SGTHRS(STALL_VALUE);
Serial.print("\nTesting connection...");
uint8_t result = driver.test_connection();
if (result) {
Serial.println("failed!");
Serial.print("Likely cause: ");
switch(result) {
case 1: Serial.println("loose connection"); break;
case 2: Serial.println("no power"); break;
}
Serial.println("Fix the problem and reset board.");
// We need this delay or messages above don't get fully printed out
delay(100);
abort();
}
Serial.println("OK");
pinMode(EN_PIN, OUTPUT);
digitalWrite(EN_PIN, LOW);
}
void loop() {
static uint32_t last_time = 0;
uint32_t ms = millis();
while (Serial.available() > 0) {
int8_t read_byte = Serial.read();
if (read_byte == '0') {
Serial.print("Motor ");
if (driver.toff() == 0) {
Serial.print("already ");
}
Serial.println("disabled.");
driver.toff(0);
} else if (read_byte == '1') {
Serial.print("Motor ");
if (driver.toff() != 0) {
Serial.print("already ");
}
Serial.println("enabled.");
driver.toff(TOFF_VALUE);
} else if (read_byte == '+') {
speed += 1000;
if (speed == 0) {
Serial.println("Hold motor.");
} else {
Serial.println("Increase speed.");
}
driver.VACTUAL(speed);
} else if (read_byte == '-') {
speed -= 1000;
if (speed == 0) {
Serial.println("Hold motor.");
} else {
Serial.println("Decrease speed.");
}
driver.VACTUAL(speed);
}
}
if((ms-last_time) > 100 && driver.toff() != 0 && speed != 0) { // run every 0.1s
last_time = ms;
Serial.print("Status: ");
Serial.print(driver.SG_RESULT(), DEC);
Serial.print(" ");
Serial.print(driver.SG_RESULT() < STALL_VALUE, DEC);
Serial.print(" ");
Serial.println(driver.cs2rms(driver.cs_actual()), DEC);
}
}
