created v0.3 functional software prototype

Software/TMC2130.py

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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)

Software/comms.py

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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')

Software/config.py

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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

Software/led.py

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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)

Software/main.py

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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()

Software/motion.py

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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)

motor_driver/~motor_driver.kicad_pcb.lck

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+{"hostname":"Oneill","username":"angoosh"}