Question: Right use of the library

Hi guys,

hope you can help me. Since a week I´m tring to set up my tmc2130. I´ve the orginal (green) one from watterot. My supply voltage for the driver is 3.3V, VRef is at 1.1V, VM was tested between 12-18V. SPI Connection is open. My goal is the set the settings with SPI using the TMC2130Stepper library and controll the motor with the accelstepper library. I´m using a arduino uno. The stepper is a generic 1.8°/200 Steps stepper from adafruits. I want to create a controller for a camera slieder. Frist only the slieder than pan tilt astro functionality.

Problem what I have, is that my stepper runs only in low speeds. I´ve read that the arduino with its 16 Mhz is the limiting factor. But with a TB503A1 driver are getting much higher speeds. I only want the higher speed for position the camera on the slider during operation timelapse and so on the speeds that i can get at the moment are fine. But reference drive to the end stop and back i don´t want to wait für 5 min.

Below is my code example. At this configuration i need 3.4 seconds for a full rotaion. Is this a problem of my configuration of the tmc or do i´m using the tmc library in a wrong way or is this a problem with the accelstepper library.

Sorry for missusing your issue section teemuatlut but i couldn´t find you in a forum to ask you there.

#define EN_PIN    7  
#define DIR_PIN   8  
#define STEP_PIN  9  
#define CS_PIN    10 

#include <AccelStepper.h>
AccelStepper stepper(1, STEP_PIN, DIR_PIN); // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5

#include <TMC2130Stepper.h>
TMC2130Stepper driver = TMC2130Stepper(EN_PIN, DIR_PIN, STEP_PIN, CS_PIN);

void setup()
{  
    Serial.begin(9600);
    while(!Serial);
    Serial.println("Start...");

    driver.microsteps(0);   // Fullstep Mode
    driver.interpolate(1);  // Interpolate Fullstep to 256 Steps

/*
23.1
Initialization Example
SPI  datagram  example  sequence  to  enable the driver  for  step  and direction  operation  and  initialize the chopper for spreadCycle operation and for stealthChop at <60 RPM: 
SPI send:0xEC000100C3;      // CHOPCONF: TOFF=3, HSTRT=4, HEND=1, TBL=2, CHM=0 (spreadCycle)
SPI send:0x9000061F0A;      // IHOLD_IRUN: IHOLD=10,IRUN=31 (max. current), IHOLDDELAY=6
SPI send:0x910000000A;      // TPOWERDOWN=10: Delay before power down in stand still
SPI send: 0x8000000004;     // EN_PWM_MODE=1 enables stealthChop (with default PWM_CONF)
SPI send: 0x93000001F4;     // TPWM_THRS=500 yields a switching velocity about 35000 = ca. 30RPM
SPI send: 0xF0000401C8;     // PWM_CONF: AUTO=1, 2/1024 Fclk, Switch amplitude limit=200, Grad=1
*/

/*-----Initialization Example-----*/
/*-----Start-----*/

    driver.begin();
    driver.rms_current(600);

    driver.microsteps(0);   // Fullstep Mode          --> stepper won´t move without microsteps=0
    driver.interpolate(1);  // Interpolate Fullstep to 256 Steps    --> for smooth motion

    driver.off_time(3);               //TOFF=3
    driver.hysteresis_start(4);       //HSTRT=4
    driver.hysteresis_end(1);         //HEND=1
    driver.blank_time(36);            //TBL=2
    driver.chopper_mode(1);           //CHM=0

    driver.hold_current(10);          //IHOLD=10
    driver.run_current(31);           //IRUN=31
    driver.hold_delay(6);             //IHOLDDELAY=6

    driver.power_down_delay(10);      //TPOWERDOWN=10

    driver.stealthChop(1);            //EN_PWM_MODE

    driver.stealth_max_speed(500);    //TPWM_THRS

//  driver.                           //PWM_CONF: AUTO=1
    driver.stealth_freq(0);           //2/1024 Fclk
    driver.stealth_amplitude(200);    //Switch amplitude limit=200
    driver.stealth_gradient(1);       //Grad

/*-----End-----*/
/*-----Initialization Example-----*/

    digitalWrite(EN_PIN, LOW);

    stepper.setMaxSpeed(3500.0);
    stepper.setAcceleration(500.0);

}
void loop()
{    

    Serial.println(stepper.speed());              // Serial Monitor für Kontrolle der Einstellungen
    Serial.println(stepper.currentPosition());    // ---
    Serial.println(stepper.isRunning());          // ---

    stepper.moveTo(1000);                         // Läuft 5 Runden bei 200 Steps --> runs 5 rounds at 200 steps need approx. 3.4sec per round
    stepper.run();                                // Run Befehl

/*
  digitalWrite(STEP_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(STEP_PIN, LOW);
  delayMicroseconds(10);
*/    
}

teemuatlut / TMC2130Stepper

Question: Right use of the library #31