created v0.3 functional software prototype
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228
Software/TMC2130.py
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228
Software/TMC2130.py
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from machine import Pin, PWM, SPI
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import time
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import utime
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from config import *
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from led import *
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from sTimer import sTimer_Start, sTimer_Stop
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import sys
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EN = Pin(13, Pin.OUT)
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DIR = Pin(14, Pin.OUT)
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STEP = Pin(15, Pin.OUT)
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ENDSTOP = Pin(8, Pin.IN, Pin.PULL_UP)
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DC_EN = Pin(11, Pin.OUT)
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DC_IN = Pin(10, Pin.OUT)
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DC_OUT = Pin(12, Pin.IN)
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SPI_MODE = Pin(20, Pin.OUT)
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spi_cs = Pin(17, Pin.OUT)
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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))
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DC_EN(0)
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DC_IN(0)
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spi_cs(1)
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EN(1) #0 = enabled
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DIR(0)
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STEP(0)
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MM_PER_STEP = SCREW_PITCH / (MOTOR_STEPS * MICROSTEPPING)
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FREQ_PER_STEP_INCREASE = (((MOTOR_STEPS * MICROSTEPPING) / SCREW_PITCH) * ACCELERATION) / 60
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REG_GCONF = 0x00
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REG_GSTAT = 0x01
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REG_IHOLD_IRUN = 0x10
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REG_CHOPCONF = 0x6C
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REG_COOLCONF = 0x6D
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REG_DCCTRL = 0x6E
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REG_DRVSTATUS = 0x6F
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step_cntr = 0
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target_steps = 0
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target_frequency = 0
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current_frequency = 0
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def step():
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global STEP, step_cntr, current_frequency, target_frequency, target_steps, FREQ_PER_STEP_INCREASE
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STEP.value(not STEP.value())
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STEP.value(not STEP.value())
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LED_ERR.value(not LED_ERR.value())
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step_cntr += 1
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if(current_frequency < target_frequency):
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current_frequency += FREQ_PER_STEP_INCREASE
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if(target_steps >= step_cntr):
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pass
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def rotate_motor(steps, feedrate):
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global current_frequency, step_cntr, target_steps, target_frequency
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step_cntr = 0
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target_steps = steps
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target_frequency = ((feedrate / SCREW_PITCH) * MOTOR_STEPS * MICROSTEPPING) / 60 #steps/s = rpm * steps_per_rotation / 60
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print(target_frequency)
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print(FREQ_PER_STEP_INCREASE)
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current_frequency = FREQ_PER_STEP_INCREASE
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def timer_callback(counter):
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if (counter % 1) == 0:
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step()
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def get_stats():
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global STEP, step_cntr, current_frequency, target_frequency, target_steps, FREQ_PER_STEP_INCREASE
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print(step_cntr, current_frequency, target_frequency, FREQ_PER_STEP_INCREASE)
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def rotate_motor_test():
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rotate_motor(32*200, 5)
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sTimer_Start()
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time.sleep(2)
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sTimer_Stop()
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def prepare_spi_msg(addr, d0, d1, d2, d3, rw):
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msg = bytearray()
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if rw == 'r':
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msg.append(addr)
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else:
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msg.append(0x80 + addr)
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msg.append(d0)
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msg.append(d1)
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msg.append(d2)
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msg.append(d3)
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return msg
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def send_spi_msg(msg):
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spi_cs(0)
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rxdata = bytearray(5)
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spi.write_readinto(msg, rxdata)
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#print(rxdata.hex())
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spi_cs(1)
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time.sleep(0.01)
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def TMC2130_Rotate(dir, steps, speed): #speed in rpm
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#1rmp = 200steps/min=3.333steps/s~150ms@50%duty
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wait = (((1 / ((MOTOR_STEPS * MICROSTEPPING) / 60)) / 2) / speed) * 1000 * 1000
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freq = 1 / ((wait / 1000000) * 2)
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if AXIS_REVERSE:
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if dir == 0:
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dir = 1
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else:
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dir = 0
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DIR(dir)
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LED_DIR(dir)
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STEP = PWM(Pin(15), freq=int(freq), duty_u16=32768)
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time.sleep((1 / freq) * steps)
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STEP.deinit()
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homing = False
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def TMC2130_Home():
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global homing
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dir = HOME_DIR
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STEP = Pin(15, Pin.OUT)
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steps_mm = (MOTOR_STEPS * MICROSTEPPING) / SCREW_PITCH
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rpm = HOME_SPEED / SCREW_PITCH
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wait = (((1 / ((MOTOR_STEPS * MICROSTEPPING) / 60)) / 2) / rpm) * 1000 * 1000
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freq = 1 / ((wait / 1000000) * 2)
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if AXIS_REVERSE:
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if dir == 0:
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dir = 1
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else:
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dir = 0
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DIR(dir)
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LED_DIR(dir)
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sys.stdout.write('homing\r\n')
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homing = True
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STEP = PWM(Pin(15), freq=int(freq), duty_u16=32768)
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while homing:
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pass
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STEP.deinit()
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if HOME_DEBOUNCE == True:
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sys.stdout.write('debouncing\r\n')
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if dir == 0:
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dir = 1
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else:
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dir = 0
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DIR(dir)
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LED_DIR(dir)
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steps = steps_mm * abs(HOME_DEBOUNCE_DISTANCE)
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TMC2130_Rotate(dir, steps, HOME_DEBOUNCE_SPEED)
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rpm = HOME_DEBOUNCE_SPEED / SCREW_PITCH
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wait = (((1 / ((MOTOR_STEPS * MICROSTEPPING) / 60)) / 2) / rpm) * 1000 * 1000
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freq = 1 / ((wait / 1000000) * 2)
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if dir == 0:
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dir = 1
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else:
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dir = 0
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DIR(dir)
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LED_DIR(dir)
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homing = True
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STEP = PWM(Pin(15), freq=int(freq), duty_u16=32768)
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while homing:
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pass
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STEP.deinit()
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def TMC2130_Disable():
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EN.value(1)
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def TMC2130_Enable():
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EN.value(0)
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def endstop_callback(endstop):
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global homing
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homing = False
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def TMC2130_Init():
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SPI_MODE(1)
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# setup coolstep
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microstep = 0
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if MICROSTEPPING == 128:
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microstep = 1
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elif MICROSTEPPING == 64:
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microstep = 2
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elif MICROSTEPPING == 32:
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microstep = 3
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elif MICROSTEPPING == 16:
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microstep = 4
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elif MICROSTEPPING == 8:
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microstep = 5
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elif MICROSTEPPING == 4:
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microstep = 6
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elif MICROSTEPPING == 2:
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microstep = 7
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elif MICROSTEPPING == 1:
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microstep = 8
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else:
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microstep = 0
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msg = prepare_spi_msg(REG_CHOPCONF, 0x00+microstep, 0x01, 0x00, 0xC3, 'w')
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send_spi_msg(msg)
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msg = prepare_spi_msg(REG_IHOLD_IRUN, 0x00, 0x06, I_RUN, I_HOLD, 'w')
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send_spi_msg(msg)
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msg = prepare_spi_msg(0x11, 0x00, 0x00, 0x00, 0x0A, 'w')
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send_spi_msg(msg)
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msg = prepare_spi_msg(REG_GCONF, 0x00, 0x00, 0x00, 0x04, 'w')
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send_spi_msg(msg)
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msg = prepare_spi_msg(0x13, 0x00, 0x00, 0x01, 0xF4, 'w')
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send_spi_msg(msg)
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msg = prepare_spi_msg(0x70, 0x00, 0x04, 0x01, 0xC8, 'w')
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send_spi_msg(msg)
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msg = prepare_spi_msg(REG_COOLCONF, 0x00, 0x00, 0x03, 0x01, 'w')
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send_spi_msg(msg)
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TMC2130_Enable()
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ENDSTOP.irq(trigger=Pin.IRQ_FALLING, handler=endstop_callback)
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