MakerLS
commented
3 years ago This is my code:
#include <TMCStepper.h>
#include <AccelStepper.h>
#define STALL_VALUE 1 // [0..255]
#define TOFF_VALUE 4 // [1... 15]
#define EN_PIN 12 // Enable
#define SW_RX 8 // TMC2208/TMC2224 SoftwareSerial receive pin
#define SW_TX 9// TMC2208/TMC2224 SoftwareSerial transmit pin
#define DIR_PIN 11 // Direction
#define STEP_PIN 10 // Step
#define DIAG_PIN 7// Pin para detectar colision
#define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2
#define R_SENSE 0.11f // SilentStepStick series use 0.11
TMC2209Stepper driver(SW_RX, SW_TX, R_SENSE, DRIVER_ADDRESS);
AccelStepper stepper = AccelStepper(stepper.DRIVER, STEP_PIN, DIR_PIN);
using namespace TMC2209_n;
int32_t speed = 0; //0 lo deshabilita
int steps_per_mm = 100;
void setup() {
Serial.begin(115200); // Init serial port and set baudrate
while(!Serial); // Wait for serial port to connect
Serial.println("\nComenzamos...");
//SERIAL_PORT.begin(115200);
driver.beginSerial(115200);
pinMode(STEP_PIN, OUTPUT);
pinMode(DIR_PIN, OUTPUT);
pinMode(DIAG_PIN, INPUT);
pinMode(EN_PIN, OUTPUT);
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); //4
// 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.println(F("\nComprobando conexión con chip... "));
uint8_t conexion = driver.test_connection();
delay(500);
if (conexion) {
Serial.println(F("La conexion ha fallado. "));
Serial.print(F("La causa mas probable es: "));
switch (conexion) {
case 1: Serial.println(F("El cableado de la conexión")); break;
case 2: Serial.println(F("No hay alimentación")); break;
}
Serial.println(F("Corrige el fallo y reinicia el sistema"));
// We need this delay or messages above don't get fully printed out
delay(100);
abort();
}
Serial.println("La conexion se ha establecido de forma correcta.");
stepper.setMaxSpeed(50*steps_per_mm); // 100mm/s @ 80 steps/mm
stepper.setAcceleration(1000*steps_per_mm); // 2000mm/s^2
stepper.setEnablePin(EN_PIN);
stepper.setPinsInverted(false, false, true);
stepper.enableOutputs();
while (digitalRead(DIAG_PIN) == HIGH)
{
// Espero a que el chip este operativo
Serial.print(".");
}
Serial.println(".");
}
void loop() {
boolean flag = false;
while ((digitalRead(DIAG_PIN) == LOW) && flag == false)
{
if (stepper.distanceToGo() == 0) {
Serial.println("Cargo 1mm");
stepper.disableOutputs();
delay(100);
stepper.move(steps_per_mm); // Move 1mm
stepper.enableOutputs();
}
if(digitalRead(DIAG_PIN) == HIGH){
int cont = 1;
Serial.println("Llego");
for(int i=0; i<100; i++)
{
if (digitalRead(DIAG_PIN) == HIGH)
{ cont++;
Serial.println("Detectado final" + cont);
}
}
if (cont > 75)
{
Serial.println("Detectada colision");
flag = true;
}
}else
{
stepper.run();
Serial.println("Avanzo 1mm");
}
}
Serial.println("He llegado al final");
reactivateStepper ();
Serial.println("Reseteo el driver");
delay(5000);
steps_per_mm = -steps_per_mm;
}
void reactivateStepper ()
{
driver.toff(0);
digitalWrite(EN_PIN, HIGH);
delay(5000);
driver.begin();
driver.toff(TOFF_VALUE); //4
driver.VACTUAL(speed);
driver.blank_time(24);
driver.rms_current(400); // mA
driver.microsteps(16);
driver.TCOOLTHRS(0xFFFFF); // 20bit max
driver.semin(5);
driver.semax(2);
driver.sedn(0b01);
driver.SGTHRS(STALL_VALUE);
digitalWrite(EN_PIN, LOW);
Serial.println("Reactivado");
}
teemuatlut
ReTheoden
Hi.
First of all I apologize for my level of English, I probably have more than one fault.
Once the code "StallGuard_TMC2209: https://github.com/teemuatlut/TMCStepper/tree/master/examples/StallGuard_TMC2209" and the code "https://gist.github.com/metalinspired/dcfe07ed0b9f42870eb54dcf8e29c126" have been tested, I am trying to modify it so that when it detects a collision, (PIN_DIAG == HIGH) it changes the direction of rotation. To do this, I read the status of the DIAG pin. According to documentation once DIAG == HIGH, it is necessary to disable the TMC2209 (and I suppose to re-enable it) to keep it working. I can't figure out how to implement this code.
Once DIAG is positive, I can't get the TMC_2209 to work again. Somebody can help me. Thank you