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farmbot-arduino-firmware
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corrections for new library

pull/123/head
Tim Evers 2020-01-05 22:20:48 +01:00
parent 09695d338a
commit e8c97d9783
7 changed files with 365 additions and 86 deletions
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12
src/Movement.cpp
View File

@ -247,17 +247,17 @@ void Movement::loadSettings()
/**/
motorCurrentX = 600;
motorCurrentX = 300;
stallSensitivityX = 0;
microStepsX = 0;
microStepsX = 8;
motorCurrentY = 600;
motorCurrentY = 300;
stallSensitivityY = 0;
microStepsY = 0;
microStepsY = 8;
motorCurrentZ = 600;
motorCurrentZ = 300;
stallSensitivityZ = 0;
microStepsZ = 0;
microStepsZ = 8;
axisX.loadSettingsTMC2130(motorCurrentX, stallSensitivityX, microStepsX);
axisY.loadSettingsTMC2130(motorCurrentX, stallSensitivityX, microStepsX);

12
src/MovementAxis.cpp
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@ -92,16 +92,16 @@ void MovementAxis::initTMC2130()
if (channelLabel == 'X')
{
TMC2130A = TMC2130X;
TMC2130B = TMC2130E;
TMC2130A = &TMC2130X;
TMC2130B = &TMC2130E;
}
if (channelLabel == 'Y')
{
TMC2130A = TMC2130Y;
TMC2130A = &TMC2130Y;
}
if (channelLabel == 'Z')
{
TMC2130A = TMC2130Z;
TMC2130A = &TMC2130Z;
}
setMotorStepWrite = &MovementAxis::setMotorStepWriteTMC2130;
@ -120,11 +120,11 @@ void MovementAxis::initTMC2130()
void MovementAxis::loadSettingsTMC2130(int motorCurrent, int stallSensitivity, int microSteps)
{
loadTMC2130ParametersMotor(TMC2130A, microSteps, stallSensitivity, microSteps);
loadTMC2130ParametersMotor(TMC2130A, microSteps, motorCurrent, stallSensitivity);
if (channelLabel == 'X')
{
loadTMC2130ParametersMotor(TMC2130B, microSteps, stallSensitivity, microSteps);
loadTMC2130ParametersMotor(TMC2130B, microSteps, motorCurrent, stallSensitivity);
}
}

16
src/TMC2130.cpp
View File

@ -9,12 +9,23 @@
void loadTMC2130ParametersMotor(Trinamic_TMC2130 *myStepper, int microsteps, int current, int sensitivity)
{
// stepper
//myStepper->init();
Serial.print("==>");
Serial.print(" ");
Serial.print(microsteps);
Serial.print(" ");
Serial.print(current);
Serial.print(" ");
Serial.print(sensitivity);
Serial.println(" ");
/**/
myStepper->init();
myStepper->set_mres(microsteps); // ({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
// load drive current for motors
{
uint16_t mA = current;
float multiplier = 0.5;
@ -30,6 +41,7 @@ void loadTMC2130ParametersMotor(Trinamic_TMC2130 *myStepper, int microsteps, int
myStepper->set_toff(3); // ([0-15]) 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
myStepper->set_tbl(1); // ([0-3]) set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
// load settings needed for enabling stall guard
myStepper->set_diag1_stall(1);
myStepper->set_diag1_onstate(1);
myStepper->set_TCOOLTHRS(0xFFFFF);

17
src/TMC2130.h
View File

@ -13,15 +13,16 @@
#include "Trinamic\Trinamic_TMC2130.h"
#include "pins.h"
static Trinamic_TMC2130 *TMC2130X;
static Trinamic_TMC2130 *TMC2130Y;
static Trinamic_TMC2130 *TMC2130Z;
static Trinamic_TMC2130 *TMC2130E;
//static Trinamic_TMC2130 *TMC2130X;
//static Trinamic_TMC2130 *TMC2130Y;
//static Trinamic_TMC2130 *TMC2130Z;
//static Trinamic_TMC2130 *TMC2130E;
//Trinamic_TMC2130 TMC2130X(X_CHIP_SELECT);
//Trinamic_TMC2130 TMC2130Y(Y_CHIP_SELECT);
//Trinamic_TMC2130 TMC2130Z(Z_CHIP_SELECT);
//Trinamic_TMC2130 TMC2130E(E_CHIP_SELECT);
static Trinamic_TMC2130 TMC2130X(X_CHIP_SELECT);
static Trinamic_TMC2130 TMC2130Y(Y_CHIP_SELECT);
static Trinamic_TMC2130 TMC2130Z(Z_CHIP_SELECT);
static Trinamic_TMC2130 TMC2130E(E_CHIP_SELECT);
void loadTMC2130ParametersMotor(Trinamic_TMC2130 *myStepper, int microsteps, int current, int sensitivity);

218
src/farmbot_arduino_controller.cpp
View File

@ -302,39 +302,6 @@ void checkEncoders()
}
void runTestForDebug()
{
//Serial.print("* ");
//Serial.print(intrCounter / 1000);
//Serial.print("\r\n");
//delay(500);
//Serial.print("z");
//blinkLed();
//delay(500);
//Serial.print(millis());
//Serial.print("X");
//Serial.print("\r\n");
//delay(1000);
//blinkLed();
//Movement::getInstance()->test();
//delayMicroseconds(100);
//digitalWrite(LED_PIN, true);
//delay(250);
//digitalWrite(LED_PIN, false);
//delay(250);
//if (debugInterrupt)
//{
// Movement::getInstance()->handleMovementInterrupt();
//}
}
// Set pins input output
#ifdef RAMPS_V14
void setPinInputOutput()
@ -516,24 +483,52 @@ void setPinInputOutput()
#if defined(FARMDUINO_EXP_V20)
void setPinInputOutput()
{
Serial.print(COMM_REPORT_COMMENT);
Serial.print(SPACE);
Serial.print("Set input/output farmbot express");
Serial.print(CRLF);
// Motor step, direction and pin is set up using the control chip library
// This board also does not use encoders
pinMode(X_ENABLE_PIN, OUTPUT);
pinMode(X_DIR_PIN, OUTPUT);
pinMode(X_STEP_PIN, OUTPUT);
pinMode(X_MIN_PIN, INPUT_PULLUP);
pinMode(X_MAX_PIN, INPUT_PULLUP);
pinMode(E_ENABLE_PIN, OUTPUT);
digitalWrite(X_ENABLE_PIN, HIGH);
digitalWrite(X_DIR_PIN, LOW);
digitalWrite(X_STEP_PIN, LOW);
pinMode(Y_ENABLE_PIN, OUTPUT);
pinMode(Y_DIR_PIN, OUTPUT);
pinMode(Y_STEP_PIN, OUTPUT);
pinMode(Y_MIN_PIN, INPUT_PULLUP);
pinMode(Y_MAX_PIN, INPUT_PULLUP);
digitalWrite(Y_ENABLE_PIN, HIGH);
digitalWrite(Y_DIR_PIN, LOW);
digitalWrite(Y_STEP_PIN, LOW);
pinMode(Z_ENABLE_PIN, OUTPUT);
pinMode(Z_DIR_PIN, OUTPUT);
pinMode(Z_STEP_PIN, OUTPUT);
pinMode(Z_MIN_PIN, INPUT_PULLUP);
pinMode(Z_MAX_PIN, INPUT_PULLUP);
digitalWrite(Z_ENABLE_PIN, HIGH);
digitalWrite(Z_DIR_PIN, LOW);
digitalWrite(Z_STEP_PIN, LOW);
pinMode(E_ENABLE_PIN, OUTPUT);
pinMode(E_DIR_PIN, OUTPUT);
pinMode(E_STEP_PIN, OUTPUT);
digitalWrite(E_ENABLE_PIN, HIGH);
digitalWrite(E_DIR_PIN, LOW);
digitalWrite(E_STEP_PIN, LOW);
pinMode(AUX_STEP_PIN, OUTPUT);
pinMode(AUX_DIR_PIN, OUTPUT);
pinMode(AUX_ENABLE_PIN, OUTPUT);
@ -561,10 +556,6 @@ void setPinInputOutput()
pinMode(SERVO_2_PIN, OUTPUT);
pinMode(SERVO_3_PIN, OUTPUT);
Serial.print(COMM_REPORT_COMMENT);
Serial.print(SPACE);
Serial.print("Set input/output");
Serial.print(CRLF);
}
#endif
@ -710,10 +701,10 @@ void startServo()
#if defined(FARMDUINO_EXP_V20)
/**/
//Trinamic_TMC2130 controllerTMC2130_X(X_CHIP_SELECT);
//Trinamic_TMC2130 controllerTMC2130_Y(Y_CHIP_SELECT);
//Trinamic_TMC2130 controllerTMC2130_Z(Z_CHIP_SELECT);
//Trinamic_TMC2130 controllerTMC2130_E(E_CHIP_SELECT);
//static Trinamic_TMC2130 controllerTMC2130_X(X_CHIP_SELECT);
//static Trinamic_TMC2130 controllerTMC2130_Y(Y_CHIP_SELECT);
//static Trinamic_TMC2130 controllerTMC2130_Z(Z_CHIP_SELECT);
//static Trinamic_TMC2130 controllerTMC2130_E(E_CHIP_SELECT);
void loadTMC2130drivers()
{
@ -728,19 +719,25 @@ void loadTMC2130drivers()
//TMC2130Z.init();
//TMC2130E.init();
Trinamic_TMC2130 controllerTMC2130_X = Trinamic_TMC2130(X_CHIP_SELECT);
Trinamic_TMC2130 controllerTMC2130_Y = Trinamic_TMC2130(Y_CHIP_SELECT);
Trinamic_TMC2130 controllerTMC2130_Z = Trinamic_TMC2130(Z_CHIP_SELECT);
Trinamic_TMC2130 controllerTMC2130_E = Trinamic_TMC2130(E_CHIP_SELECT);
//Trinamic_TMC2130 controllerTMC2130_X = Trinamic_TMC2130(X_CHIP_SELECT);
//Trinamic_TMC2130 controllerTMC2130_Y = Trinamic_TMC2130(Y_CHIP_SELECT);
//Trinamic_TMC2130 controllerTMC2130_Z = Trinamic_TMC2130(Z_CHIP_SELECT);
//Trinamic_TMC2130 controllerTMC2130_E = Trinamic_TMC2130(E_CHIP_SELECT);
TMC2130X = &controllerTMC2130_X;
TMC2130Y = &controllerTMC2130_Y;
TMC2130Z = &controllerTMC2130_Z;
TMC2130E = &controllerTMC2130_E;
//TMC2130X = &controllerTMC2130_X;
//TMC2130Y = &controllerTMC2130_Y;
//TMC2130Z = &controllerTMC2130_Z;
//TMC2130E = &controllerTMC2130_E;
}
void loadTMC2130parameters()
{
// Initialize the drivers
Serial.print(COMM_REPORT_COMMENT);
Serial.print(SPACE);
Serial.print("Load TMC2130 parameters");
Serial.print(CRLF);
Movement::getInstance()->loadSettingsTMC2130();
}
@ -754,6 +751,15 @@ void startupTmc()
Serial.print(CRLF);
Movement::getInstance()->initTMC2130();
//loadTMC2130parameters();
//TMC2130X.init();
//TMC2130Y.init();
//TMC2130Z.init();
//TMC2130E.init();
//Movement::getInstance()->initTMC2130();
}
#endif
@ -761,4 +767,114 @@ void initLastAction()
{
// Initialize the inactivity check
lastAction = millis();
}
}
void setupTestForDebug()
{
Serial.print(COMM_REPORT_COMMENT);
Serial.print(SPACE);
Serial.print("Setup Debug");
Serial.print(CRLF);
digitalWrite(X_ENABLE_PIN, LOW);
digitalWrite(Y_ENABLE_PIN, LOW);
digitalWrite(Z_ENABLE_PIN, LOW);
digitalWrite(E_ENABLE_PIN, LOW);
//digitalWrite(X_STEP_PIN, false);
//digitalWrite(Y_STEP_PIN, false);
//digitalWrite(Z_STEP_PIN, false);
//digitalWrite(E_STEP_PIN, false);
//digitalWrite(X_DIR_PIN, false);
//digitalWrite(Y_DIR_PIN, false);
//digitalWrite(Z_DIR_PIN, false);
//digitalWrite(E_DIR_PIN, false);
//digitalWrite(X_ENABLE_PIN, true);
//digitalWrite(Y_ENABLE_PIN, true);
//digitalWrite(Z_ENABLE_PIN, true);
//digitalWrite(E_ENABLE_PIN, true);
//loadTMC2130ParametersMotor(&controllerTMC2130_X, 8, 500, 0); delay(100);
//loadTMC2130ParametersMotor(&controllerTMC2130_Y, 8, 500, 0); delay(100);
//loadTMC2130ParametersMotor(&controllerTMC2130_Z, 8, 500, 0); delay(100);
//loadTMC2130ParametersMotor(&controllerTMC2130_E, 8, 500, 0); delay(100);
}
bool left = false;
void runTestForDebug()
{
currentTime = millis();
if (currentTime < lastAction)
{
// If the device timer overruns, reset the idle counter
lastAction = millis();
}
else
{
if ((currentTime - lastAction) > reportingPeriod)
{
blinkLed();
Serial.print(".");
lastAction = currentTime;
if (left) {
left = false;
digitalWrite(X_DIR_PIN, LOW);
digitalWrite(Y_DIR_PIN, LOW);
digitalWrite(Z_DIR_PIN, LOW);
digitalWrite(E_DIR_PIN, LOW);
}
else {
left = true;
digitalWrite(X_DIR_PIN, HIGH);
digitalWrite(Y_DIR_PIN, HIGH);
digitalWrite(Z_DIR_PIN, HIGH);
digitalWrite(E_DIR_PIN, HIGH);
}
}
}
// make a step
digitalWrite(X_STEP_PIN, HIGH);
digitalWrite(Y_STEP_PIN, HIGH);
digitalWrite(Z_STEP_PIN, HIGH);
digitalWrite(E_STEP_PIN, HIGH);
delayMicroseconds(100);
digitalWrite(X_STEP_PIN, LOW);
digitalWrite(Y_STEP_PIN, LOW);
digitalWrite(Z_STEP_PIN, LOW);
digitalWrite(E_STEP_PIN, LOW);
delayMicroseconds(100);
/*
digitalWrite(X_STEP_PIN, HIGH);
digitalWrite(E_STEP_PIN, HIGH);
delayMicroseconds(100);
digitalWrite(X_STEP_PIN, LOW);
digitalWrite(E_STEP_PIN, LOW);
delayMicroseconds(100);
*/
//Movement::getInstance()->test();
//delayMicroseconds(100);
//if (debugInterrupt)
//{
// Movement::getInstance()->handleMovementInterrupt();
//}
}

1
src/farmbot_arduino_controller.h
View File

@ -61,6 +61,7 @@ void setup();
void startServo();
void startInterrupt();
void homeOnBoot();
void setupTestForDebug();
void runTestForDebug();
void checkEncoders();
void checkPinGuard();

175
src/src.ino
View File

@ -5,12 +5,17 @@
*/
#include "farmbot_arduino_controller.h"
//#include <SPI.h>
//#include "Trinamic\Trinamic_TMC2130.h"
//#include "pins.h"
//#include "TMC2130.h"
// the setup function runs once when you press reset or power the board
void setup()
{
setPinInputOutput();
startSerial();
setPinInputOutput();
readParameters();
#if defined(FARMDUINO_EXP_V20)
@ -19,6 +24,10 @@ void setup()
loadTMC2130parameters();
#endif
//Serial.print("============");
//Serial.print(CRLF);
loadMovementSetting();
startMotor();
startPinGuard();
@ -27,23 +36,163 @@ void setup()
initLastAction();
homeOnBoot();
Serial.print(COMM_REPORT_COMMENT);
Serial.print(SPACE);
Serial.print("ARDUINO STARTUP COMPLETE");
Serial.print(CRLF);
setupTestForDebug();
//Serial.print(COMM_REPORT_COMMENT);
//Serial.print(SPACE);
//Serial.print("ARDUINO STARTUP COMPLETE");
//Serial.print(CRLF);
/*
Serial.begin(115200); //init serial port and set baudrate
while (!Serial); //wait for serial port to connect (needed for Leonardo only)
Serial.println("Start...");
*/
/*
// pins
pinMode(X_ENABLE_PIN, OUTPUT);
pinMode(X_DIR_PIN, OUTPUT);
pinMode(X_STEP_PIN, OUTPUT);
digitalWrite(X_ENABLE_PIN, HIGH); // disable driver
digitalWrite(X_DIR_PIN, LOW); // chose direction
digitalWrite(X_STEP_PIN, LOW); // no step yet
pinMode(Y_ENABLE_PIN, OUTPUT);
pinMode(Y_DIR_PIN, OUTPUT);
pinMode(Y_STEP_PIN, OUTPUT);
digitalWrite(Y_ENABLE_PIN, HIGH); // disable driver
digitalWrite(Y_DIR_PIN, LOW); // chose direction
digitalWrite(Y_STEP_PIN, LOW); // no step yet
pinMode(Z_ENABLE_PIN, OUTPUT);
pinMode(Z_DIR_PIN, OUTPUT);
pinMode(Z_STEP_PIN, OUTPUT);
digitalWrite(Z_ENABLE_PIN, HIGH); // disable driver
digitalWrite(Z_DIR_PIN, LOW); // chose direction
digitalWrite(Z_STEP_PIN, LOW); // no step yet
pinMode(E_ENABLE_PIN, OUTPUT);
pinMode(E_DIR_PIN, OUTPUT);
pinMode(E_STEP_PIN, OUTPUT);
digitalWrite(E_ENABLE_PIN, HIGH); // disable driver
digitalWrite(E_DIR_PIN, LOW); // chose direction
digitalWrite(E_STEP_PIN, LOW); // no step yet
*/
/*
Serial.println("Init");
loadTMC2130ParametersMotor(&TMC2130X, 8, 200, 0);
loadTMC2130ParametersMotor(&TMC2130Y, 8, 200, 0);
loadTMC2130ParametersMotor(&TMC2130Z, 8, 200, 0);
loadTMC2130ParametersMotor(&TMC2130E, 8, 200, 0);
*/
/*
pinMode(X_ENABLE_PIN, OUTPUT);
pinMode(X_DIR_PIN, OUTPUT);
pinMode(X_STEP_PIN, OUTPUT);
digitalWrite(X_ENABLE_PIN, HIGH); // disable driver
digitalWrite(X_DIR_PIN, LOW); // chose direction
digitalWrite(X_STEP_PIN, LOW); // no step yet
pinMode(Y_ENABLE_PIN, OUTPUT);
pinMode(Y_DIR_PIN, OUTPUT);
pinMode(Y_STEP_PIN, OUTPUT);
digitalWrite(Y_ENABLE_PIN, HIGH); // disable driver
digitalWrite(Y_DIR_PIN, LOW); // chose direction
digitalWrite(Y_STEP_PIN, LOW); // no step yet
pinMode(Z_ENABLE_PIN, OUTPUT);
pinMode(Z_DIR_PIN, OUTPUT);
pinMode(Z_STEP_PIN, OUTPUT);
digitalWrite(Z_ENABLE_PIN, HIGH); // disable driver
digitalWrite(Z_DIR_PIN, LOW); // chose direction
digitalWrite(Z_STEP_PIN, LOW); // no step yet
pinMode(E_ENABLE_PIN, OUTPUT);
pinMode(E_DIR_PIN, OUTPUT);
pinMode(E_STEP_PIN, OUTPUT);
digitalWrite(E_ENABLE_PIN, HIGH); // disable driver
digitalWrite(E_DIR_PIN, LOW); // chose direction
digitalWrite(E_STEP_PIN, LOW); // no step yet
*/
//loadTMC2130drivers();
//startupTmc();
//loadTMC2130parameters();
/**/
//Movement::getInstance()->initTMC2130();
//loadTMC2130parameters();
//loadTMC2130ParametersMotor(&TMC2130X, 8, 200, 0);
//loadTMC2130ParametersMotor(&TMC2130Y, 8, 200, 0);
//loadTMC2130ParametersMotor(&TMC2130Z, 8, 200, 0);
//loadTMC2130ParametersMotor(&TMC2130E, 8, 200, 0);
Serial.println("Enable pins");
digitalWrite(X_ENABLE_PIN, LOW); // enable driver
digitalWrite(Y_ENABLE_PIN, LOW); // enable driver
digitalWrite(Z_ENABLE_PIN, LOW); // enable driver
digitalWrite(E_ENABLE_PIN, LOW); // enable driver
//Serial.println("Enable");
}
// the loop function runs over and over again until power down or reset
void loop()
{
//runTestForDebug();
runTestForDebug();
checkEncoders();
checkPinGuard();
checkSerialInputs();
checkEmergencyStop();
checkParamsChanged();
periodicChecksAndReport();
//checkEncoders();
//checkPinGuard();
//checkSerialInputs();
//checkEmergencyStop();
//checkParamsChanged();
//periodicChecksAndReport();
}
//static uint32_t last_time = 0;
//uint32_t ms = millis();
/*
// make a step
digitalWrite(X_STEP_PIN, HIGH);
digitalWrite(Y_STEP_PIN, HIGH);
digitalWrite(Z_STEP_PIN, HIGH);
digitalWrite(E_STEP_PIN, HIGH);
delayMicroseconds(100);
digitalWrite(X_STEP_PIN, LOW);
digitalWrite(Y_STEP_PIN, LOW);
digitalWrite(Z_STEP_PIN, LOW);
digitalWrite(E_STEP_PIN, LOW);
delayMicroseconds(100);
*/
/*
TMC2130X.read_STAT();
if (TMC2130X.isStandstill() || TMC2130X.isStallguard()) {
Serial.print("X");
}
TMC2130Y.read_STAT();
if (TMC2130Y.isStandstill() || TMC2130Y.isStallguard()) {
Serial.print("Y");
}
TMC2130Z.read_STAT();
if (TMC2130Z.isStandstill() || TMC2130Z.isStallguard()) {
Serial.print("Z");
}
TMC2130E.read_STAT();
if (TMC2130E.isStandstill() || TMC2130E.isStallguard()) {
Serial.print("E");
}
*/
}