Using pointers to get diagnostic info from two stepper motors (starting from program using one)

adamaero · September 1, 2023, 4:41pm

Original:

janelia-arduino/TMC2209/blob/main/examples/BidirectionalCommunication/SettingsAndStatus/SettingsAndStatus.ino

#include <TMC2209.h>

// This example will not work on Arduino boards without HardwareSerial ports,
// such as the Uno, Nano, and Mini.
//
// See this reference for more details:
// https://www.arduino.cc/reference/en/language/functions/communication/serial/

HardwareSerial & serial_stream = Serial3;

const long SERIAL_BAUD_RATE = 115200;
const int DELAY = 2000;

// Instantiate TMC2209
TMC2209 stepper_driver;


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

This file has been truncated. show original

My attempt:

#include <TMC2209.h>

HardwareSerial &serial_stream_1 = Serial3; // Connect to the first TMC2209
HardwareSerial &serial_stream_2 = Serial2; // Connect to the second TMC2209

const int DELAY = 2000;

// Instantiate TMC2209 for the first motor driver
TMC2209 stepper_driver_1;

// Instantiate TMC2209 for the second motor driver
TMC2209 stepper_driver_2;

void setup()
{
  Serial.begin(115200);

  // Initialize the first TMC2209 motor driver
  stepper_driver_1.setup(serial_stream_1);

  // Initialize the second TMC2209 motor driver
  stepper_driver_2.setup(serial_stream_2);

  // Perform initial setup for both motor drivers
  setupMotorDriver(stepper_driver_1);
  setupMotorDriver(stepper_driver_2);
}

void loop()
{
  // Control the first motor driver (stepper_driver_1)
  Serial.println("First Motor Driver:");
  moveMotor(stepper_driver_1, 1000); // Move the first motor
  // Add more control code for the first motor driver here

  // Control the second motor driver (stepper_driver_2)
  Serial.println("Second Motor Driver:");
  moveMotor(stepper_driver_2, -1000); // Move the second motor
  // Add more control code for the second motor driver here

  // Query and print the status and settings for both motor drivers
  queryStatusAndSettings(stepper_driver_1, "First Motor Driver");
  queryStatusAndSettings(stepper_driver_2, "Second Motor Driver");

  delay(DELAY);
}

void setupMotorDriver(TMC2209 &driver)
{
  // Configure motor driver settings for each driver here
  TMC2209::Settings settings;

  // Example configuration (you can customize these settings)
  settings.stealth_chop_enabled = true;
  settings.microsteps_per_step = 64;
  settings.ihold_register_value = 0x0F; // Adjust current settings as needed
  settings.automatic_current_scaling_enabled = true;
  settings.automatic_gradient_adaptation_enabled = true;
  settings.pwm_offset = 4;
  settings.pwm_gradient = 3;
  settings.cool_step_enabled = true;
  settings.analog_current_scaling_enabled = false;
  settings.internal_sense_resistors_enabled = false;

  // Set the motor driver settings
  driver.setStealthChopEnabled(settings.stealth_chop_enabled);
  driver.setMicrostepsPerStep(settings.microsteps_per_step);
  driver.setIHoldRegisterValue(settings.ihold_register_value);
  driver.setAutomaticCurrentScalingEnabled(settings.automatic_current_scaling_enabled);
  driver.setAutomaticGradientAdaptationEnabled(settings.automatic_gradient_adaptation_enabled);
  driver.setPWMOffset(settings.pwm_offset);
  driver.setPWMGradient(settings.pwm_gradient);
  driver.setCoolStepEnabled(settings.cool_step_enabled);
  driver.setAnalogCurrentScalingEnabled(settings.analog_current_scaling_enabled);
  driver.setInternalSenseResistorsEnabled(settings.internal_sense_resistors_enabled);

  // Print the updated settings
  printSettings(settings);
}

void moveMotor(TMC2209 &driver, long steps)
{
  // Move the motor with the specified number of steps
  driver.setTargetPosition(driver.getPosition() + steps);
  while (!driver.isStandstill())
  {
    // Wait for the motor to reach the target position
  }
}

void queryStatusAndSettings(TMC2209 &driver, const char *driverName)
{
  Serial.println("*************************");
  Serial.println(driverName);

  // Query and print the motor driver settings
  TMC2209::Settings settings;
  driver.copyTo(settings);
  printSettings(settings);

  Serial.println("*************************");
  Serial.println("hardwareDisabled()");
  bool hardware_disabled = driver.hardwareDisabled();
  Serial.print("hardware_disabled = ");
  Serial.println(hardware_disabled);
  Serial.println("*************************");
  Serial.println();

  Serial.println("*************************");
  Serial.println("getStatus()");
  TMC2209::Status status = driver.getStatus();
  printStatus(status);
  Serial.println("*************************");
  Serial.println();
}

void printSettings(const TMC2209::Settings &settings)
{
  Serial.println("*************************");
  Serial.println("Current Motor Driver Settings:");
  Serial.print("settings.stealth_chop_enabled = ");
  Serial.println(settings.stealth_chop_enabled);
  Serial.print("settings.microsteps_per_step = ");
  Serial.println(settings.microsteps_per_step);
  Serial.print("settings.ihold_register_value = ");
  Serial.println(settings.ihold_register_value);
  Serial.print("settings.automatic_current_scaling_enabled = ");
  Serial.println(settings.automatic_current_scaling_enabled);
  Serial.print("settings.automatic_gradient_adaptation_enabled = ");
  Serial.println(settings.automatic_gradient_adaptation_enabled);
  Serial.print("settings.pwm_offset = ");
  Serial.println(settings.pwm_offset);
  Serial.print("settings.pwm_gradient = ");
  Serial.println(settings.pwm_gradient);
  Serial.print("settings.cool_step_enabled = ");
  Serial.println(settings.cool_step_enabled);
  Serial.print("settings.analog_current_scaling_enabled = ");
  Serial.println(settings.analog_current_scaling_enabled);
  Serial.print("settings.internal_sense_resistors_enabled = ");
  Serial.println(settings.internal_sense_resistors_enabled);
  Serial.println("*************************");
}

void printStatus(const TMC2209::Status &status)
{
  Serial.println("Current Motor Driver Status:");
  Serial.print("status.over_temperature_warning = ");
  Serial.println(status.over_temperature_warning);
  Serial.print("status.over_temperature_shutdown = ");
  Serial.println(status.over_temperature_shutdown);
  Serial.print("status.short_to_ground_a = ");
  Serial.println(status.short_to_ground_a);
  Serial.print("status.short_to_ground_b = ");
  Serial.println(status.short_to_ground_b);
  Serial.print("status.low_side_short_a = ");
  Serial.println(status.low_side_short_a);
  Serial.print("status.low_side_short_b = ");
  Serial.println(status.low_side_short_b);
  Serial.print("status.open_load_a = ");
  Serial.println(status.open_load_a);
  Serial.print("status.open_load_b = ");
  Serial.println(status.open_load_b);
  Serial.print("status.over_temperature_120c = ");
  Serial.println(status.over_temperature_120c);
  Serial.print("status.over_temperature_143c = ");
  Serial.println(status.over_temperature_143c);
  Serial.print("status.over_temperature_150c = ");
  Serial.println(status.over_temperature_150c);
  Serial.print("status.over_temperature_157c = ");
  Serial.println(status.over_temperature_157c);
  Serial.print("status.current_scaling = ");
  Serial.println(status.current_scaling);
  Serial.print("status.stealth_chop_mode = ");
  Serial.println(status.stealth_chop_mode);
  Serial.print("status.standstill = ");
  Serial.println(status.standstill);
  Serial.println("*************************");
}

adamaero · September 1, 2023, 4:51pm

No, it's not working. Litany of errors running on Arduino Mega.

'class TMC2209' has no member named 'setStealthChopEnabled'
'class TMC2209' has no member named 'setIHoldRegisterValue'
'class TMC2209' has no member named 'setAutomaticCurrentScalingEnabled'

Etc.

adamaero · September 1, 2023, 4:53pm

Yes, the original complies and uploads perfectly.

adamaero · September 1, 2023, 5:13pm

#include <TMC2209.h>

const int dirPinX = 13;
const int stepPinX = 12;

const int dirPinY = 8;
const int stepPinY = 7;


int resetXcount = 0, resetYcount = 0, stepXcount = 0, stepYcount = 0;

//float deltaTheta = PI/8000;             // Original
float deltaTheta = PI / 8000;             // Adjust this when gear ratio changes
float A = 80;       // Amplitude - scaling (stretching/shifting)
float deltaX = 0, deltaY = 0, theta = 0;
float x_1 = 0, x_2 = 0, y_1 = 0, y_2 = 0;

HardwareSerial &serial_stream_1 = Serial3; // Connect to the first TMC2209
HardwareSerial &serial_stream_2 = Serial2; // Connect to the second TMC2209

const int DELAY = 2000;

// Instantiate TMC2209 for the first motor driver
TMC2209 stepper_driver_1;

// Instantiate TMC2209 for the second motor driver
TMC2209 stepper_driver_2;

void setup()
{
  Serial.begin(115200);

  // Initialize the first TMC2209 motor driver
  stepper_driver_1.setup(serial_stream_1);

  // Initialize the second TMC2209 motor driver
  stepper_driver_2.setup(serial_stream_2);

  pinMode(stepPinX, OUTPUT);
  pinMode(dirPinX, OUTPUT);
  pinMode(stepPinY, OUTPUT);
  pinMode(dirPinY, OUTPUT);

  deltaX  = 0;   //(dirPinX, LOW);  // right
  deltaY  = 0;   //(dirPinY, LOW);  // away
  for (int i = 0; i < 22000; i++)
  {
    stepX();
    stepY();

    digitalWrite(stepPinX, LOW);
    digitalWrite(stepPinY, LOW);
    delayMicroseconds(200);
  }  
}

void loop()
{

  /*
   *  Move motors function calls
   */



  // Query and print the status and settings for both motor drivers
  queryStatusAndSettings(stepper_driver_1, "First Motor Driver");
  queryStatusAndSettings(stepper_driver_2, "Second Motor Driver");

  delay(DELAY);
}




void queryStatusAndSettings(TMC2209 &driver, const char *driverName)
{
  Serial.println("*************************");
  Serial.println(driverName);

  // Query and print the motor driver settings
  TMC2209::Settings settings;
//  driver.copyTo(settings);
//  printSettings(settings);

  Serial.println("*************************");
  Serial.println("hardwareDisabled()");
  bool hardware_disabled = driver.hardwareDisabled();
  Serial.print("hardware_disabled = ");
  Serial.println(hardware_disabled);
  Serial.println("*************************");
  Serial.println();

  Serial.println("*************************");
  Serial.println("getStatus()");
  TMC2209::Status status = driver.getStatus();
  printStatus(status);
  Serial.println("*************************");
  Serial.println();
}

void printSettings(const TMC2209::Settings &settings)
{
  Serial.println("*************************");
  Serial.println("Current Motor Driver Settings:");
  Serial.print("settings.stealth_chop_enabled = ");
  Serial.println(settings.stealth_chop_enabled);
  Serial.print("settings.microsteps_per_step = ");
  Serial.println(settings.microsteps_per_step);
  Serial.print("settings.ihold_register_value = ");
  Serial.println(settings.ihold_register_value);
  Serial.print("settings.automatic_current_scaling_enabled = ");
  Serial.println(settings.automatic_current_scaling_enabled);
  Serial.print("settings.automatic_gradient_adaptation_enabled = ");
  Serial.println(settings.automatic_gradient_adaptation_enabled);
  Serial.print("settings.pwm_offset = ");
  Serial.println(settings.pwm_offset);
  Serial.print("settings.pwm_gradient = ");
  Serial.println(settings.pwm_gradient);
  Serial.print("settings.cool_step_enabled = ");
  Serial.println(settings.cool_step_enabled);
  Serial.print("settings.analog_current_scaling_enabled = ");
  Serial.println(settings.analog_current_scaling_enabled);
  Serial.print("settings.internal_sense_resistors_enabled = ");
  Serial.println(settings.internal_sense_resistors_enabled);
  Serial.println("*************************");
}

void printStatus(const TMC2209::Status &status)
{
  Serial.println("Current Motor Driver Status:");
  Serial.print("status.over_temperature_warning = ");
  Serial.println(status.over_temperature_warning);
  Serial.print("status.over_temperature_shutdown = ");
  Serial.println(status.over_temperature_shutdown);
  Serial.print("status.short_to_ground_a = ");
  Serial.println(status.short_to_ground_a);
  Serial.print("status.short_to_ground_b = ");
  Serial.println(status.short_to_ground_b);
  Serial.print("status.low_side_short_a = ");
  Serial.println(status.low_side_short_a);
  Serial.print("status.low_side_short_b = ");
  Serial.println(status.low_side_short_b);
  Serial.print("status.open_load_a = ");
  Serial.println(status.open_load_a);
  Serial.print("status.open_load_b = ");
  Serial.println(status.open_load_b);
  Serial.print("status.over_temperature_120c = ");
  Serial.println(status.over_temperature_120c);
  Serial.print("status.over_temperature_143c = ");
  Serial.println(status.over_temperature_143c);
  Serial.print("status.over_temperature_150c = ");
  Serial.println(status.over_temperature_150c);
  Serial.print("status.over_temperature_157c = ");
  Serial.println(status.over_temperature_157c);
  Serial.print("status.current_scaling = ");
  Serial.println(status.current_scaling);
  Serial.print("status.stealth_chop_mode = ");
  Serial.println(status.stealth_chop_mode);
  Serial.print("status.standstill = ");
  Serial.println(status.standstill);
  Serial.println("*************************");
}
void stepX()
{
  if (deltaX < 0) // Set motor direction clockwise
    digitalWrite(dirPinX, HIGH);
  else
    digitalWrite(dirPinX, LOW);

  digitalWrite(stepPinX, HIGH);
    delayMicroseconds(5);
}


void stepY()
{
  if (deltaY < 0) // Set motor direction clockwise
    digitalWrite(dirPinY, HIGH);
  else
    digitalWrite(dirPinY, LOW);

  digitalWrite(stepPinY, HIGH);
    delayMicroseconds(5);

}

Ok, I just took all those settings out and hope the default settings work out. Thanks for help.

adamaero · September 1, 2023, 8:28pm

No, I wanted 5 us each.

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Using pointers to get diagnostic info from two stepper motors (starting from program using one)

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