Resources for a beginner

[afeathers1]

I am trying to drive a nema23/56 stepper with a TMC2660 on the TMC2660-BOB breakout board, with an arduino mega 2560. I'm attempting to run hardware SPI on the mega SPI pins (50 (MISO), 51 (MOSI), 52 (SCK), 53 (SS)). https://www.trinamic.com/support/eval-kits/details/tmc2660-bob/

To the absolute best of my knowledge and after double, tripple, and quadruple checking connections, I simply get no output to the stepper. Sporadically, the shaft locks and unlocks. Step and direction signals look like they should when measured.

Is there a guide to using this library? I saw reference to chapters somewhere, but links provided were broken.

Any help or guidance appreciated. Thank you very much for sharing this.

Code below, in case it's something simple:

/**
 * 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      50 // [-64..63]

#define EN_PIN           40 // Enable
#define DIR_PIN          30 // Direction
#define STEP_PIN         31 // Step
#define CS_PIN           53 // Chip select
#define SW_MOSI          66 // Software Master Out Slave In (MOSI)
#define SW_MISO          44 // Software Master In Slave Out (MISO)
#define SW_SCK           64 // Software Slave Clock (SCK)
//#define SW_RX            63 // TMC2208/TMC2224 SoftwareSerial receive pin
//#define SW_TX            40 // TMC2208/TMC2224 SoftwareSerial transmit pin
//#define SERIAL_PORT Serial1 // TMC2208/TMC2224 HardwareSerial port
//#define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2

#define R_SENSE 0.1// 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
TMC2660Stepper driver(CS_PIN, R_SENSE);                           // Hardware SPI
//TMC2660Stepper driver(CS_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK);

using namespace TMC2660_n;

// Using direct register manipulation can reach faster stepping times
#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);         // Init serial port and set baudrate
  while(!Serial);               // Wait for serial port to connect
  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(1500); // mA
  driver.microsteps(16);
  driver.sfilt(true); // Improves SG readout.
  driver.rdsel(0b01);
  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;

    READ_RDSEL10_t data{0};
    data.sr = driver.DRV_STATUS();

    Serial.print("0 ");
    Serial.print(data.sg_result, DEC);
    Serial.print(" ");
    Serial.println(driver.cs2rms(data.se), DEC);
  }
}

[teemuatlut]

You should first just focus on getting a response from the driver. I didn't have the time to test this piece of code but you can try it out

#include <Arduino.h>
#include <TMCStepper.h>

TMC2660Stepper driver(53, 0.1);

void setup() {
  Serial.begin(9600);
  SPI.begin();
  driver.begin();
}

void loop() {
  delay(1000);

  auto drv_status = driver.DRV_STATUS();

  Serial.print("Driver status = ");
  Serial.println(drv_status);
}