Fixed CoolStep

src/Trinamic_TMC2130.cpp

@@ -340,7 +340,7 @@ uint8_t Trinamic_TMC2130::set_TPWMTHRS(uint32_t value)
 
   data = value & TMC_TPWMTHRS_MASK;
 
-  write_REG(TMC_REG_TPOWERDOWN, data);
+  write_REG(TMC_REG_TPWMTHRS, data);
 
   return _status;
 }

src/getting_started.ino

@@ -26,14 +26,31 @@ v0.1 - it works
 #include <Trinamic_TMC2130.h>
 
 // pin configuration (this is the X-axis on a standard RAMPS 1.4)
-#define CS_PIN 21
-#define EN_PIN 18 //enable (CFG6)
-#define DIR_PIN 19 //direction
-#define STEP_PIN 20  //step
+#define CS_PIN 7
+#define EN_PIN 8 //enable (CFG6)
+#define DIR_PIN 9 //direction
+#define STEP_PIN 10  //step
 
 Trinamic_TMC2130 myStepper(CS_PIN);
 
+
+// hand-tuned constants for our application
+
+const int8_t STALLGUARD_THRESHOLD = 10;
+
+int8_t sgt = STALLGUARD_THRESHOLD;
+
+int8_t irun = 10;
+int8_t ihold = 10;
+int8_t iholddelay = 10;
+
+
+int16_t dc_time = 25;
+int16_t dc_sg = 2;
+
+
 void setup(){
+  Serial.begin(1500000);
   while (!Serial);
 
   // pins
@@ -48,7 +65,7 @@ void setup(){
   digitalWrite(EN_PIN, LOW); // enable driver
 
   // stepper
-  myStepper.init();
+  myStepper.init();                                                 
   
   Serial.print("REG_IOIN: ");
   uint32_t ioin = 0;
@@ -79,47 +96,54 @@ void setup(){
       while (true);
   }
   
-  chopconf = chopconf ^ 0x05;
+  chopconf = 0x0000;
   myStepper.write_REG(TMC_REG_CHOPCONF, chopconf);
 
 
-  //myStepper.set_mres(64); // ({1,2,4,8,16,32,64,128,256}) number of microsteps
-  //myStepper.set_IHOLD_IRUN(31,31,5); // ([0-31],[0-31],[0-5]) sets all currents to maximum
-  //myStepper.set_I_scale_analog(1); // ({0,1}) 0: I_REF internal, 1: sets I_REF to AIN
-  //myStepper.set_tbl(1); // ([0-3]) set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
+  myStepper.set_toff(8); // ([0-15]) 0: driver disable, 1: use only withTBL>2, 2-15: off time setting during slow decay phase
+  myStepper.set_tbl(1);
 
-
-  myStepper.set_mres(128);
-
-//  myStepper.set_chm(2);
-//  myStepper.set_toff(8); // ([0-15]) 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
-
-
-  myStepper.set_hstrt(0);
-  myStepper.set_hend(13);
+  myStepper.set_hend(0x3 + -2);
+  myStepper.set_hstrt(4);
+  
+  myStepper.set_mres(32);
+  
 
 
   // configure motor current
-  myStepper.set_IHOLD_IRUN(1,31,31);
-  myStepper.set_I_scale_analog(1);
-  
-  myStepper.set_tbl(4);
-  
-  // configure dcStep  mode
-  myStepper.set_VDCMIN(1);
-  myStepper.set_DCCTRL(50, 10);
+  //myStepper.set_IHOLD_IRUN(1,31,31);
+  myStepper.set_IHOLD_IRUN(ihold,irun,iholddelay);
+  //myStepper.set_freewheel(01);
 
+  
+  //myStepper.set_I_scale_analog(1); // use external Aref
+
+  // configure coolStep
+  myStepper.set_semin(4); // semin*32 = 128
+  myStepper.set_semax(3); // (semin + semax + 1)*32 = 256
+
+  myStepper.set_seimin(1); // 1/4 of IRUN
+
+  myStepper.set_TCOOLTHRS(0xFFFFF);
+  myStepper.set_THIGH(100);
+
+  
+  myStepper.set_TPWMTHRS(1000);
+  
+  
+  //myStepper.set_sedn(0b01);
+
+  // configure dcStep  mode
   myStepper.set_vhighchm(1);
   myStepper.set_vhighfs(1);
-
-  myStepper.set_sgt(127);
-
-  myStepper.set_TCOOLTHRS(1);
-  myStepper.set_TPWMTHRS(1);
+  
+  myStepper.set_VDCMIN(50);
+  myStepper.set_DCCTRL(dc_time, dc_sg);
 
 
-  myStepper.set_toff(8); // ([0-15]) 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
-
+  // configure StallGuard
+  myStepper.set_sfilt(1);
+  myStepper.set_sgt(STALLGUARD_THRESHOLD);
   
 
 
@@ -130,36 +154,111 @@ void setup(){
 void loop(){
   // make a step
   digitalWrite(STEP_PIN, HIGH);
-  delayMicroseconds(42);
+  delayMicroseconds(84);
   digitalWrite(STEP_PIN, LOW);
-  delayMicroseconds(42);
+  delayMicroseconds(84);
+
+
 
   static int sometimes = 0;
-  if (sometimes++ > 100) {
+  if (sometimes++ > 20) {
     sometimes = 0;
 
+    
+    int32_t gstat;
+    myStepper.read_REG(TMC_REG_GSTAT, &gstat);
+    
     uint32_t drv_status = 0;
     myStepper.read_REG(TMC_REG_DRV_STATUS, &drv_status);
     uint32_t stallguard = drv_status & 0x1ff;  
     uint32_t current = (drv_status >> 16) & 0x1f;
 
+    if (gstat || (drv_status >> 24 & 0x0F)) {  
+      Serial.print("ALARM: DRV_ERR=");
+      Serial.print((drv_status >> 24 & 0x0F), HEX);   
+    }
+
     int32_t lost_steps;
-    myStepper.read_REG(TMC_REG_LOST_STEPS, &lost_steps);
+    myStepper.read_REG(TMC_REG_LOST_STEPS, &lost_steps);    
+
+    uint32_t tstep;
+    myStepper.read_REG(TMC_REG_TSTEP, &tstep);
+
+    uint8_t sgflag = (drv_status >> 24) & 1;
+
+    if (sgflag) Serial.println("SG STOP!!!");
+    
 
     static int32_t last_lost_steps = 0;
 
+
+    Serial.print("Lost Steps: ");
+    Serial.print(lost_steps);
+
+    Serial.print(" Current: ");
+    Serial.print(current);
+
+    Serial.print(" TSTEP=");
+    Serial.print(tstep);
+
+    Serial.print(" SGFLAG=");
+    Serial.print(sgflag);
+
+    Serial.print(" Stallguard =");
+    Serial.print(stallguard);
+
+    
+
+/*
+    for (int i = 0; i < 64; i++) {
+        Serial.print(stallguard * 64 / 512 >= i ? "|" : " ");
+    }
+    * */
+    
+
+    Serial.print("\r");
+
+
+    if (Serial.available()) {      
+      int8_t read_byte = Serial.read();
+      if (read_byte == '0')      { /* TIMSK1 &= ~(1 << OCIE1A); */ digitalWrite( EN_PIN, HIGH ); }
+      else if (read_byte == '1') { /* TIMSK1 |=  (1 << OCIE1A); */ digitalWrite( EN_PIN,  LOW ); }
+      //else if (read_byte == '+') { if (OCR1A > MAX_SPEED) OCR1A -= 20; }
+      //else if (read_byte == '-') { if (OCR1A < MIN_SPEED) OCR1A += 20; }
+
+      
+      else if (read_byte == 'r') { sgt++; myStepper.set_sgt(sgt); }
+      else if (read_byte == 'f') { sgt--; myStepper.set_sgt(sgt); }
+
+      
+      else if (read_byte == 'q') { ihold++; myStepper.set_IHOLD_IRUN(ihold,irun,iholddelay); }
+      else if (read_byte == 'a') { ihold--; myStepper.set_IHOLD_IRUN(ihold,irun,iholddelay); }
+      
+      else if (read_byte == 'w') { irun++; myStepper.set_IHOLD_IRUN(ihold,irun,iholddelay); }
+      else if (read_byte == 's') { irun--; myStepper.set_IHOLD_IRUN(ihold,irun,iholddelay); }
+      
+      else if (read_byte == 'e') { iholddelay++; myStepper.set_IHOLD_IRUN(ihold,irun,iholddelay); }
+      else if (read_byte == 'd') { iholddelay--; myStepper.set_IHOLD_IRUN(ihold,irun,iholddelay); }
+
+      
+      else if (read_byte == 't') { dc_time++; myStepper.set_DCCTRL(dc_time, dc_sg); }
+      else if (read_byte == 'g') { dc_time--; myStepper.set_DCCTRL(dc_time, dc_sg); }
+      
+      else if (read_byte == 'z') { dc_sg++; myStepper.set_DCCTRL(dc_time, dc_sg); }
+      else if (read_byte == 'h') { dc_sg--; myStepper.set_DCCTRL(dc_time, dc_sg); }
+    }
+
+
     
     const int STEP_THRESHOLD = 5;
     const int DIRCHANGE_HOLDOFF = 2;
     
     static int dirchange_timeout = DIRCHANGE_HOLDOFF;
-
-    if ((lost_steps >= last_lost_steps + STEP_THRESHOLD) || (lost_steps <= last_lost_steps - STEP_THRESHOLD)  ) {
+/*
+    if (stallguard < 1) {
+    //if ((lost_steps >= last_lost_steps + STEP_THRESHOLD) || (lost_steps <= last_lost_steps - STEP_THRESHOLD)  ) {
       if (--dirchange_timeout < 0) {
-        
-        Serial.print("Lost Steps: ");
-        Serial.println(lost_steps);
-        
+      
         Serial.print("Last Lost Steps: ");
         Serial.println(lost_steps);
         
@@ -167,10 +266,13 @@ void loop(){
         Serial.println(dirchange_timeout);
 
         digitalWrite(DIR_PIN, !digitalRead(DIR_PIN));
+
+        delay(2000);
         
         last_lost_steps = lost_steps;
         dirchange_timeout = DIRCHANGE_HOLDOFF;
       }
     }
+  * */
   }
 }