hi,
i'm experienced using TMC2100 drivers, and i've recently bought a TMC2130 to try running it through SPI and thus have the amazing load sensing capacity of these drivers (StallGuard).
however, i have tried myriads of different setups and configurations and i cannot seem to be able to run these drivers in SPI mode. i've checked pinout, code, checked power supply, correct current limiting, checked board pins with a multimeter and etc and everything seems to be running fine.
am I missing something? or did i get very unlucky to have bought a brand new motor driver that came with its SPI interface faulty? the motor does not even block while on SPI mode! in standalone mode (non-spi, soldered pads bellow) it works just fine though.
details:
/picture: (attached)
/code:
/**
* Author Teemu Mäntykallio
*
* Plot TMC2130 or TMC2660 motor load using the stallGuard value.
* You can finetune the reading by changing the STALL_VALUE.
* This will let you control at which load the value will read 0
* and the stall flag will be triggered. This will also set pin DIAG1 high.
* A higher STALL_VALUE will make the reading less sensitive and
* a lower STALL_VALUE will make it more sensitive.
*
* You can control the rotation speed with
* 0 Stop
* 1 Resume
* + Speed up
* - Slow down
*/
#include <TMCStepper.h>
#define MAX_SPEED 40 // In timer value
#define MIN_SPEED 1000
#define STALL_VALUE 15 // [-64..63]
#define DIR_PIN 5
#define STEP_PIN 6
#define EN_PIN 7
#define CS_PIN 10
#define SCK_PIN 17
#define SW_MOSI 11
#define SW_MISO 12
#define SW_SCK 13
#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
//TMC2130Stepper driver(CS_PIN, R_SENSE); // Hardware SPI
TMC2130Stepper driver(CS_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK); // Software SPI
using namespace TMC2130_n;
#define STEP_PORT PORTF // Match with STEP_PIN
#define STEP_BIT_POS 0 // Match with STEP_PIN
ISR(TIMER1_COMPA_vect){
//STEP_PORT ^= 1 << STEP_BIT_POS;
digitalWrite(STEP_PIN, !digitalRead(STEP_PIN));
}
void setup() {
SPI.begin();
Serial.begin(250000);
while(!Serial);
Serial.println("\nStart...");
pinMode(EN_PIN, OUTPUT);
pinMode(STEP_PIN, OUTPUT);
pinMode(CS_PIN, OUTPUT);
pinMode(DIR_PIN, OUTPUT);
pinMode(MISO, INPUT_PULLUP);
digitalWrite(EN_PIN, LOW);
driver.begin();
driver.toff(4);
driver.blank_time(24);
driver.rms_current(400); // mA
driver.microsteps(16);
driver.TCOOLTHRS(0xFFFFF); // 20bit max
driver.THIGH(0);
driver.semin(5);
driver.semax(2);
driver.sedn(0b01);
driver.sgt(STALL_VALUE);
// Set stepper interrupt
{
cli();//stop interrupts
TCCR1A = 0;// set entire TCCR1A register to 0
TCCR1B = 0;// same for TCCR1B
TCNT1 = 0;//initialize counter value to 0
OCR1A = 256;// = (16*10^6) / (1*1024) - 1 (must be <65536)
// turn on CTC mode
TCCR1B |= (1 << WGM12);
// Set CS11 bits for 8 prescaler
TCCR1B |= (1 << CS11);// | (1 << CS10);
// enable timer compare interrupt
TIMSK1 |= (1 << OCIE1A);
sei();//allow interrupts
}
}
void loop() {
static uint32_t last_time=0;
uint32_t ms = millis();
while(Serial.available() > 0) {
int8_t read_byte = Serial.read();
#ifdef USING_TMC2660
if (read_byte == '0') { TIMSK1 &= ~(1 << OCIE1A); driver.toff(0); }
else if (read_byte == '1') { TIMSK1 |= (1 << OCIE1A); driver.toff(driver.savedToff()); }
#else
if (read_byte == '0') { TIMSK1 &= ~(1 << OCIE1A); digitalWrite( EN_PIN, HIGH ); }
else if (read_byte == '1') { TIMSK1 |= (1 << OCIE1A); digitalWrite( EN_PIN, LOW ); }
#endif
else if (read_byte == '+') { if (OCR1A > MAX_SPEED) OCR1A -= 20; }
else if (read_byte == '-') { if (OCR1A < MIN_SPEED) OCR1A += 20; }
}
if((ms-last_time) > 100) { //run every 0.1s
last_time = ms;
DRV_STATUS_t drv_status{0};
drv_status.sr = driver.DRV_STATUS();
Serial.print("0 ");
Serial.print(drv_status.sg_result, DEC);
Serial.print(" ");
Serial.println(driver.cs2rms(drv_status.cs_actual), DEC);
}
}
/parts:
thanks!
