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created v0.3 functional software prototype

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Angoosh Leviocki
2024-07-20 09:46:59 +02:00
parent b2597a60c7
commit fafa874b43
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228
Software/TMC2130.py Normal file
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from machine import Pin, PWM, SPI
import time
import utime
from config import *
from led import *
from sTimer import sTimer_Start, sTimer_Stop
import sys
EN = Pin(13, Pin.OUT)
DIR = Pin(14, Pin.OUT)
STEP = Pin(15, Pin.OUT)
ENDSTOP = Pin(8, Pin.IN, Pin.PULL_UP)
DC_EN = Pin(11, Pin.OUT)
DC_IN = Pin(10, Pin.OUT)
DC_OUT = Pin(12, Pin.IN)
SPI_MODE = Pin(20, Pin.OUT)
spi_cs = Pin(17, Pin.OUT)
spi = SPI(0, baudrate=100000, polarity=1, phase=1, bits=8, firstbit=SPI.MSB, sck=Pin(18, Pin.OUT), mosi=Pin(19, Pin.OUT), miso=Pin(16, Pin.IN))
DC_EN(0)
DC_IN(0)
spi_cs(1)
EN(1) #0 = enabled
DIR(0)
STEP(0)
MM_PER_STEP = SCREW_PITCH / (MOTOR_STEPS * MICROSTEPPING)
FREQ_PER_STEP_INCREASE = (((MOTOR_STEPS * MICROSTEPPING) / SCREW_PITCH) * ACCELERATION) / 60
REG_GCONF = 0x00
REG_GSTAT = 0x01
REG_IHOLD_IRUN = 0x10
REG_CHOPCONF = 0x6C
REG_COOLCONF = 0x6D
REG_DCCTRL = 0x6E
REG_DRVSTATUS = 0x6F
step_cntr = 0
target_steps = 0
target_frequency = 0
current_frequency = 0
def step():
global STEP, step_cntr, current_frequency, target_frequency, target_steps, FREQ_PER_STEP_INCREASE
STEP.value(not STEP.value())
STEP.value(not STEP.value())
LED_ERR.value(not LED_ERR.value())
step_cntr += 1
if(current_frequency < target_frequency):
current_frequency += FREQ_PER_STEP_INCREASE
if(target_steps >= step_cntr):
pass
def rotate_motor(steps, feedrate):
global current_frequency, step_cntr, target_steps, target_frequency
step_cntr = 0
target_steps = steps
target_frequency = ((feedrate / SCREW_PITCH) * MOTOR_STEPS * MICROSTEPPING) / 60 #steps/s = rpm * steps_per_rotation / 60
print(target_frequency)
print(FREQ_PER_STEP_INCREASE)
current_frequency = FREQ_PER_STEP_INCREASE
def timer_callback(counter):
if (counter % 1) == 0:
step()
def get_stats():
global STEP, step_cntr, current_frequency, target_frequency, target_steps, FREQ_PER_STEP_INCREASE
print(step_cntr, current_frequency, target_frequency, FREQ_PER_STEP_INCREASE)
def rotate_motor_test():
rotate_motor(32*200, 5)
sTimer_Start()
time.sleep(2)
sTimer_Stop()
def prepare_spi_msg(addr, d0, d1, d2, d3, rw):
msg = bytearray()
if rw == 'r':
msg.append(addr)
else:
msg.append(0x80 + addr)
msg.append(d0)
msg.append(d1)
msg.append(d2)
msg.append(d3)
return msg
def send_spi_msg(msg):
spi_cs(0)
rxdata = bytearray(5)
spi.write_readinto(msg, rxdata)
#print(rxdata.hex())
spi_cs(1)
time.sleep(0.01)
def TMC2130_Rotate(dir, steps, speed): #speed in rpm
#1rmp = 200steps/min=3.333steps/s~150ms@50%duty
wait = (((1 / ((MOTOR_STEPS * MICROSTEPPING) / 60)) / 2) / speed) * 1000 * 1000
freq = 1 / ((wait / 1000000) * 2)
if AXIS_REVERSE:
if dir == 0:
dir = 1
else:
dir = 0
DIR(dir)
LED_DIR(dir)
STEP = PWM(Pin(15), freq=int(freq), duty_u16=32768)
time.sleep((1 / freq) * steps)
STEP.deinit()
homing = False
def TMC2130_Home():
global homing
dir = HOME_DIR
STEP = Pin(15, Pin.OUT)
steps_mm = (MOTOR_STEPS * MICROSTEPPING) / SCREW_PITCH
rpm = HOME_SPEED / SCREW_PITCH
wait = (((1 / ((MOTOR_STEPS * MICROSTEPPING) / 60)) / 2) / rpm) * 1000 * 1000
freq = 1 / ((wait / 1000000) * 2)
if AXIS_REVERSE:
if dir == 0:
dir = 1
else:
dir = 0
DIR(dir)
LED_DIR(dir)
sys.stdout.write('homing\r\n')
homing = True
STEP = PWM(Pin(15), freq=int(freq), duty_u16=32768)
while homing:
pass
STEP.deinit()
if HOME_DEBOUNCE == True:
sys.stdout.write('debouncing\r\n')
if dir == 0:
dir = 1
else:
dir = 0
DIR(dir)
LED_DIR(dir)
steps = steps_mm * abs(HOME_DEBOUNCE_DISTANCE)
TMC2130_Rotate(dir, steps, HOME_DEBOUNCE_SPEED)
rpm = HOME_DEBOUNCE_SPEED / SCREW_PITCH
wait = (((1 / ((MOTOR_STEPS * MICROSTEPPING) / 60)) / 2) / rpm) * 1000 * 1000
freq = 1 / ((wait / 1000000) * 2)
if dir == 0:
dir = 1
else:
dir = 0
DIR(dir)
LED_DIR(dir)
homing = True
STEP = PWM(Pin(15), freq=int(freq), duty_u16=32768)
while homing:
pass
STEP.deinit()
def TMC2130_Disable():
EN.value(1)
def TMC2130_Enable():
EN.value(0)
def endstop_callback(endstop):
global homing
homing = False
def TMC2130_Init():
SPI_MODE(1)
# setup coolstep
microstep = 0
if MICROSTEPPING == 128:
microstep = 1
elif MICROSTEPPING == 64:
microstep = 2
elif MICROSTEPPING == 32:
microstep = 3
elif MICROSTEPPING == 16:
microstep = 4
elif MICROSTEPPING == 8:
microstep = 5
elif MICROSTEPPING == 4:
microstep = 6
elif MICROSTEPPING == 2:
microstep = 7
elif MICROSTEPPING == 1:
microstep = 8
else:
microstep = 0
msg = prepare_spi_msg(REG_CHOPCONF, 0x00+microstep, 0x01, 0x00, 0xC3, 'w')
send_spi_msg(msg)
msg = prepare_spi_msg(REG_IHOLD_IRUN, 0x00, 0x06, I_RUN, I_HOLD, 'w')
send_spi_msg(msg)
msg = prepare_spi_msg(0x11, 0x00, 0x00, 0x00, 0x0A, 'w')
send_spi_msg(msg)
msg = prepare_spi_msg(REG_GCONF, 0x00, 0x00, 0x00, 0x04, 'w')
send_spi_msg(msg)
msg = prepare_spi_msg(0x13, 0x00, 0x00, 0x01, 0xF4, 'w')
send_spi_msg(msg)
msg = prepare_spi_msg(0x70, 0x00, 0x04, 0x01, 0xC8, 'w')
send_spi_msg(msg)
msg = prepare_spi_msg(REG_COOLCONF, 0x00, 0x00, 0x03, 0x01, 'w')
send_spi_msg(msg)
TMC2130_Enable()
ENDSTOP.irq(trigger=Pin.IRQ_FALLING, handler=endstop_callback)

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Software/comms.py Normal file
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import sys
import select
from config import *
from motion import Motion_Move
from TMC2130 import TMC2130_Home
import machine
poll_obj = ''
def Comms_Init():
global poll_obj
poll_obj = select.poll()
poll_obj.register(sys.stdin, select.POLLIN)
def Comms_Hello():
hello_str = 'Stepper motor driver\r\n'
hello_str += 'Software: v0.3\r\n'
hello_str += 'Hardware: v1.0\r\n'
hello_str += 'Author: Angoosh\r\n'
sys.stdout.write(hello_str)
def Comms_Reset():
machine.reset()
def Comms_GetInfo(info):
if info == 0:
sys.stdout.write(AXIS_ID+'\r\n')
def Comms_Read():
global poll_obj
poll_results = poll_obj.poll(1)
if poll_results:
rw = sys.stdin.readline().strip()
rw = rw.upper()
if 'G0' in rw:
if AXIS_ID in rw:
data = rw.split(' ')
for i in data:
if AXIS_ID in i:
motorics = i.split(':')
Motion_Move(int(motorics[1]), int(motorics[2]))
sys.stdout.write('OK\r\n')
elif 'G1' in rw:
if AXIS_ID in rw:
data = rw.split(' ')
for i in data:
if AXIS_ID in i:
motorics = i.split(':')
Motion_Move(int(motorics[1]), int(motorics[2]))
sys.stdout.write('OK\r\n')
elif 'G28' in rw:
TMC2130_Home()
elif 'RESET' in rw:
sys.stdout.write('OK\r\n')
Comms_Reset()
elif 'INFO' in rw:
data = rw.split(' ')
Comms_GetInfo(int(data[1]))
elif rw == '':
pass
else:
sys.stdout.write('INVALID 1\r\n')

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Software/config.py Normal file
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MOTOR_STEPS = 200
MICROSTEPPING = 16
I_HOLD = 10 #hold current (1-31)
I_RUN = 10 #run current (1-31)
SCREW_PITCH = 5 #in mm/rotation
AXIS_LENGTH = 1000 #mm
AXIS_ID = 'X' #id of axis (X,Y,U,V)
AXIS_REVERSE = False
HOME_DIR = 0
HOME_SPEED = 600 #in mm/s
HOME_DEBOUNCE = True
HOME_DEBOUNCE_DISTANCE = 5 #in mm
HOME_DEBOUNCE_SPEED = 200
ACCELERATION = 1

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Software/led.py Normal file
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from machine import Pin
LED_ERR = Pin(25, Pin.OUT)
LED_DIR = Pin(3, Pin.OUT)
LED_STOP = Pin(6, Pin.OUT)
LED_OK = Pin(7, Pin.OUT)

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Software/main.py Normal file
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# Example using PWM to fade an LED.
import time
from machine import Pin, PWM, Timer, SPI
from config import *
from led import *
from TMC2130 import TMC2130_Rotate, TMC2130_Init, rotate_motor_test
from motion import Motion_Init, Motion_Move
from comms import *
LED_OK.value(0)
LED_ERR.value(1)
time.sleep(0.5)
LED_ERR.value(0)
LED_DIR.value(1)
time.sleep(0.5)
LED_DIR.value(0)
LED_STOP.value(1)
time.sleep(0.5)
LED_STOP.value(0)
LED_OK.value(1)
time.sleep(0.5)
TMC2130_Init()
Motion_Init()
Comms_Init()
Comms_Hello()
while True:
Comms_Read()

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Software/motion.py Normal file
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from TMC2130 import TMC2130_Rotate
from config import *
steps_mm = 0
def Motion_Init():
global steps_mm
steps_mm = (MOTOR_STEPS * MICROSTEPPING) / SCREW_PITCH
def Motion_Move(distance, speed): #distance in mm, speed in mm/min
global steps_mm
steps = steps_mm * abs(distance)
direction = 0
if distance < 0:
if AXIS_REVERSE == False:
direction = 0
else:
direction = 1
else:
if AXIS_REVERSE == False:
direction = 1
else:
direction = 0
rpm = speed / SCREW_PITCH
TMC2130_Rotate(direction, steps, rpm)