Connecting arduinonano via UART to tmc 2209

Projects Programming
1 
#include <Arduino.h>
#include <TMC2209.h>

HardwareSerial & serial_stream = Serial1;

const long SERIAL_BAUD_RATE = 115200;
const int DELAY = 200;
const uint8_t RUN_CURRENT_PERCENT = 40;
const int32_t VELOCITY = 20000;
const uint8_t STALL_GUARD_THRESHOLD = 50;


// Instantiate TMC2209
TMC2209 stepper_driver;


void setup()
{
  Serial.begin(SERIAL_BAUD_RATE);

  stepper_driver.setup(serial_stream);

  if (stepper_driver.isSetupAndCommunicating())
  {
    Serial.println("Stepper driver setup and communicating!");
    Serial.println("");
  }
  else
  {
    Serial.println("Stepper driver not setup and communicating!");
    return;
  }

  stepper_driver.setRunCurrent(RUN_CURRENT_PERCENT);
  stepper_driver.setStallGuardThreshold(STALL_GUARD_THRESHOLD);
  stepper_driver.enable();
  stepper_driver.moveAtVelocity(VELOCITY);
}

void loop()
{
  if (not stepper_driver.isSetupAndCommunicating())
  {
    Serial.println("Stepper driver not setup and communicating!");
    return;
  }

  Serial.print("run_current_percent = ");
  Serial.println(RUN_CURRENT_PERCENT);

  Serial.print("stall_guard_threshold = ");
  Serial.println(STALL_GUARD_THRESHOLD);

  uint16_t stall_guard_result = stepper_driver.getStallGuardResult();
  Serial.print("stall_guard_result = ");
  Serial.println(stall_guard_result);

  Serial.println("");
  delay(DELAY);

}

Greetings, such a problem, to control tmc 2209 via USART, I use the TMC2209 library (github). Before that, I used esp 32 as a microcontroller (An example of using this library with ESP can be seen before my text). Now I use an analogue of arduino nano, I defined pin 10.11 as rxtx Instead of HardwareSerial & serial_stream = Serial1 I use SoftwareSerial Serial1(11,10);, but when I specify this port for USART initializations (stepper_driver.setup (Serial1)) I get an error (see photo 1). How can this problem be solved? Thank you

#include <SoftwareSerial.h>
#include <Arduino.h>
#include "mString.h"
#include <TMC2209.h>

SoftwareSerial Serial2(8,9); // RX, TX (на драйвер тоже нужно будет адресовать rx,tx
SoftwareSerial Serial1(11,10); // RX, TX (на драйвер тоже нужно будет адресовать rx,tx

TMC2209 stepper_driver; 

byte MSG_IN[8];
byte current_1  = 0; 
int current_2  = 0; 
bool flag_1 = false; //направление счета
bool received = false;
volatile int counter = 0;  // переменная-счётчик
int cal_res; 
byte i = 0;
byte MSG2[] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
byte MSG3[] = {0x00,0x00};


uint16_t crc16(uint8_t *adr_buffer, uint32_t byte_cnt)
{
    /////////////////////////////////////////////////
    static uint8_t auchCRCHi[]=
    {
        0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
        0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
        0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
        0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
        0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
        0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
        0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
        0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
        0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
        0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
        0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
        0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
        0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
        0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
        0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
        0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
    };
    /*Table of CRC values for low–order byte*/
    static uint8_t auchCRCLo[]=
    {
        0x00,0xC0,0xC1,0x01,0xC3,0x03,0x02,0xC2,0xC6,0x06,0x07,0xC7,0x05,0xC5,0xC4,0x04,
        0xCC,0x0C,0x0D,0xCD,0x0F,0xCF,0xCE,0x0E,0x0A,0xCA,0xCB,0x0B,0xC9,0x09,0x08,0xC8,
        0xD8,0x18,0x19,0xD9,0x1B,0xDB,0xDA,0x1A,0x1E,0xDE,0xDF,0x1F,0xDD,0x1D,0x1C,0xDC,
        0x14,0xD4,0xD5,0x15,0xD7,0x17,0x16,0xD6,0xD2,0x12,0x13,0xD3,0x11,0xD1,0xD0,0x10,
        0xF0,0x30,0x31,0xF1,0x33,0xF3,0xF2,0x32,0x36,0xF6,0xF7,0x37,0xF5,0x35,0x34,0xF4,
        0x3C,0xFC,0xFD,0x3D,0xFF,0x3F,0x3E,0xFE,0xFA,0x3A,0x3B,0xFB,0x39,0xF9,0xF8,0x38,
        0x28,0xE8,0xE9,0x29,0xEB,0x2B,0x2A,0xEA,0xEE,0x2E,0x2F,0xEF,0x2D,0xED,0xEC,0x2C,
        0xE4,0x24,0x25,0xE5,0x27,0xE7,0xE6,0x26,0x22,0xE2,0xE3,0x23,0xE1,0x21,0x20,0xE0,
        0xA0,0x60,0x61,0xA1,0x63,0xA3,0xA2,0x62,0x66,0xA6,0xA7,0x67,0xA5,0x65,0x64,0xA4,
        0x6C,0xAC,0xAD,0x6D,0xAF,0x6F,0x6E,0xAE,0xAA,0x6A,0x6B,0xAB,0x69,0xA9,0xA8,0x68,
        0x78,0xB8,0xB9,0x79,0xBB,0x7B,0x7A,0xBA,0xBE,0x7E,0x7F,0xBF,0x7D,0xBD,0xBC,0x7C,
        0xB4,0x74,0x75,0xB5,0x77,0xB7,0xB6,0x76,0x72,0xB2,0xB3,0x73,0xB1,0x71,0x70,0xB0,
        0x50,0x90,0x91,0x51,0x93,0x53,0x52,0x92,0x96,0x56,0x57,0x97,0x55,0x95,0x94,0x54,
        0x9C,0x5C,0x5D,0x9D,0x5F,0x9F,0x9E,0x5E,0x5A,0x9A,0x9B,0x5B,0x99,0x59,0x58,0x98,
        0x88,0x48,0x49,0x89,0x4B,0x8B,0x8A,0x4A,0x4E,0x8E,0x8F,0x4F,0x8D,0x4D,0x4C,0x8C,
        0x44,0x84,0x85,0x45,0x87,0x47,0x46,0x86,0x82,0x42,0x43,0x83,0x41,0x81,0x80,0x40,
    };
    ///////////////////////////////////////////////////////////// 

    // переменные для расчета CRC16 -?*:?????
    byte uchCRCHi = 0xFF;  
    byte uchCRCLo = 0xFF; 
    unsigned uIndex; 
    
    /* CRC Generation Function */
    while( byte_cnt--) /* pass through message buffer */
    {
        uIndex = uchCRCHi ^ *adr_buffer++; /* calculate the CRC */
        uchCRCHi = uchCRCLo ^ auchCRCHi[uIndex];
        uchCRCLo = auchCRCLo[uIndex];
    }
MSG3[0] = uchCRCHi;
MSG3[1] = uchCRCLo;
return (uchCRCHi << 8 | uchCRCLo);

}

void index_pulses() //функция подсчета шагов
{
  if (flag_1 == true) {
    counter ++;
  } else {
    counter --;
  }
}

void callibtation () //функция калибровки
{
  uint16_t stall_guard_result = stepper_driver.getStallGuardResult();
  stepper_driver.moveAtVelocity(-20000);
  if (stall_guard_result > 32) {
    stepper_driver.moveAtVelocity(0);
  }
  counter = 0;
  flag_1 = true;
  stepper_driver.moveAtVelocity(20000);
  if (stall_guard_result > 32) {
    stepper_driver.moveAtVelocity(0);
    counter = cal_res; //Результат калибровки
    flag_1 = false;
  }
}

void setup()  
{
  Serial.begin(57600); //связь с пк
  Serial1.begin(19200); 
  Serial2.begin(115200); //связь с роботом
  Serial1.listen();
  Serial.setTimeout(50);
  pinMode(7,   OUTPUT); // переключатель прием-отправка
  pinMode(3, INPUT); //вход для получния ипмульсов 
  digitalWrite(7,LOW);
  attachInterrupt(3, index_pulses, RISING); //нужно назначить вход на импульсы 
  stepper_driver.setup(Serial1);

  stepper_driver.setStandstillMode(stepper_driver.BRAKING);
  
}

void loop() 
{ 
  crc16(MSG2, sizeof(MSG2)); //вызов функции
  uint16_t stall_guard_result = stepper_driver.getStallGuardResult(); //для tmc2209
  //Serial.println(stall_guard_result); //получаем кривую нагрузки постояннно
  if (stepper_driver.isSetupAndCommunicating()) //проверка связи USART драйвера шаговика 
  {
    Serial1.println("Stepper driver setup and communicating!");
    Serial1.println("");
  }
  else
  {
    Serial1.println("Stepper driver not setup and communicating!");
    return;
  }
  stepper_driver.setup(Serial,57600);
  Serial1.listen(); //
  i = 0;
    while(Serial2.available()){ //парсинг в массив
        MSG_IN[i] = Serial2.read(); 
        i+=1;
        received = true;
    }
    if (received == true) {
      
      for (int j = 0; j < 8 ; j++) {
        if (j == 0) {
          Serial.println(" ");
        }
        if (j < 6) {
          MSG2[j] = MSG_IN[j];
        }
        Serial.print( MSG_IN[j],HEX);
        Serial.print(" ");
        if (j == 8) {
          Serial.println(" ");
        }
      }
    received = false;
    Serial.print("Байт получено ");
    Serial.println(i);
    }
  if (MSG_IN[0] == 0x01 and MSG_IN[6] == MSG3[0] and MSG_IN[7] == MSG3[1]) { 
    if (MSG_IN[2] == 0x01) {
      if (MSG_IN[3] == 0x00) { //инициализация (калибровка) 
        callibtation ();
        Serial.println("Произошла калибровка ");
        Serial.println (MSG3[0],HEX);//crc
        Serial.println (MSG3[1],HEX);
        digitalWrite(7,HIGH);
        delay(0);
        for (int t = 0; t < 8 ; t++) {
          Serial2.write(MSG_IN[t]);
        }
        digitalWrite(7,LOW);
        MSG_IN[0] = 0;
      }
      if (MSG_IN[3] == 0x01) { //Сила сжатия (ток) 
        current_1 = MSG_IN[5];
        current_2 = map(current_1, 20, 100, 200, 1000); //проверь границы тока!
        Serial.println(current_2);
        stepper_driver.setRunCurrent(current_2);
        MSG_IN[0] = 0;
      }
      if (MSG_IN[3] == 0x03) { //позиция 0 - 1000
        byte bt_1 = MSG_IN[4];
        byte bt_2 = MSG_IN[5];
        int pos = bt_1*256 + bt_2;
        Serial.println (MSG3[0],HEX); //crc
        Serial.println (MSG3[1],HEX);
        Serial.println("Заданная позиция");
        Serial.println(pos);
        Serial1.listen();
        for (int l = 0; l < 8; l++) {
          Serial1.print( MSG_IN[l],HEX);
          Serial1.print(" ");
          if (l == 8) {
            Serial1.println(" ");
          }
        }
        MSG_IN[0] = 0;
      }
    }
  }
  
}

image

2

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