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peterpolidoropeterpolidoro
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Merge pull request #83 from pvginkel/esp-idf
Added support for ESP-IDF projects.
2 parents cdd729a + cdff6e9 commit b31fe7a

12 files changed

+275
-21
lines changed

‎.github/workflows/build_examples_esp_idf_project.yml

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name: Build ESP-IDF example project
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on:
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push:
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branches: [main]
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pull_request:
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branches: [main]
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jobs:
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build:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: esp-idf build
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uses: espressif/esp-idf-ci-action@v1
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with:
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esp_idf_version: v5.3.2
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target: esp32
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path: examples/ESPIDFExample

‎CMakeLists.txt

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idf_component_register(
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SRC_DIRS "src/TMC2209"
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INCLUDE_DIRS "src"
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REQUIRES arduino-esp32
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)

‎examples/ESPIDFExample/.gitignore

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/build
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/.vscode
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/managed_components
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/sdkconfig
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/dependencies.lock

‎examples/ESPIDFExample/CMakeLists.txt

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# For more information about build system see
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# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html
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# The following five lines of boilerplate have to be in your project's
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# CMakeLists in this exact order for cmake to work correctly
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cmake_minimum_required(VERSION 3.16)
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include($ENV{IDF_PATH}/tools/cmake/project.cmake)
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project(idf_project_example)

‎examples/ESPIDFExample/README.md

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This folder contains a bare bones functional ESP-IDF project.
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You can create one using the **ESP-IDF: New Project** command in
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Visual Studio code, or use this one as a basis. If you do use this one
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as a basis for your own project, review the `.gitignore` file as it
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excludes files you would not want to exclude in a normal project.
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Normally only the `managed_components` and `build` folders would be
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excluded from version control.

‎examples/ESPIDFExample/main/CMakeLists.txt

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FILE(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/*.c ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
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idf_component_register(
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SRCS ${SOURCES}
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INCLUDE_DIRS "."
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)

‎examples/ESPIDFExample/main/idf_component.yml

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dependencies:
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TMC2209:
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path: ../../..
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# Alternatively you can point this directly at the GitHub repository:
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# git: https://github.com/janelia-arduino/TMC2209.git

‎examples/ESPIDFExample/main/main.cpp

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#include <TMC2209.h>
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// This example will not work on Arduino boards without HardwareSerial ports,
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// such as the Uno, Nano, and Mini.
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//
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// See this reference for more details:
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// https://www.arduino.cc/reference/en/language/functions/communication/serial/
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HardwareSerial & serial_stream = Serial1;
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const long SERIAL_BAUD_RATE = 115200;
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const int DELAY = 2000;
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// Instantiate TMC2209
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TMC2209 stepper_driver;
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extern "C" void app_main()
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{
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Serial.begin(SERIAL_BAUD_RATE);
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stepper_driver.setup(serial_stream);
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Serial.println("*************************");
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Serial.println("getSettings()");
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TMC2209::Settings settings = stepper_driver.getSettings();
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Serial.print("settings.is_communicating = ");
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Serial.println(settings.is_communicating);
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Serial.print("settings.is_setup = ");
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Serial.println(settings.is_setup);
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Serial.print("settings.software_enabled = ");
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Serial.println(settings.software_enabled);
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Serial.print("settings.microsteps_per_step = ");
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Serial.println(settings.microsteps_per_step);
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Serial.print("settings.inverse_motor_direction_enabled = ");
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Serial.println(settings.inverse_motor_direction_enabled);
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Serial.print("settings.stealth_chop_enabled = ");
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Serial.println(settings.stealth_chop_enabled);
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Serial.print("settings.standstill_mode = ");
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switch (settings.standstill_mode)
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{
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case TMC2209::NORMAL:
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Serial.println("normal");
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break;
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case TMC2209::FREEWHEELING:
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Serial.println("freewheeling");
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break;
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case TMC2209::STRONG_BRAKING:
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Serial.println("strong_braking");
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break;
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case TMC2209::BRAKING:
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Serial.println("braking");
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break;
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}
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Serial.print("settings.irun_percent = ");
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Serial.println(settings.irun_percent);
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Serial.print("settings.irun_register_value = ");
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Serial.println(settings.irun_register_value);
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Serial.print("settings.ihold_percent = ");
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Serial.println(settings.ihold_percent);
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Serial.print("settings.ihold_register_value = ");
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Serial.println(settings.ihold_register_value);
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Serial.print("settings.iholddelay_percent = ");
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Serial.println(settings.iholddelay_percent);
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Serial.print("settings.iholddelay_register_value = ");
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Serial.println(settings.iholddelay_register_value);
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Serial.print("settings.automatic_current_scaling_enabled = ");
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Serial.println(settings.automatic_current_scaling_enabled);
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Serial.print("settings.automatic_gradient_adaptation_enabled = ");
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Serial.println(settings.automatic_gradient_adaptation_enabled);
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Serial.print("settings.pwm_offset = ");
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Serial.println(settings.pwm_offset);
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Serial.print("settings.pwm_gradient = ");
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Serial.println(settings.pwm_gradient);
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Serial.print("settings.cool_step_enabled = ");
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Serial.println(settings.cool_step_enabled);
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Serial.print("settings.analog_current_scaling_enabled = ");
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Serial.println(settings.analog_current_scaling_enabled);
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Serial.print("settings.internal_sense_resistors_enabled = ");
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Serial.println(settings.internal_sense_resistors_enabled);
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Serial.println("*************************");
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Serial.println();
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Serial.println("*************************");
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Serial.println("hardwareDisabled()");
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bool hardware_disabled = stepper_driver.hardwareDisabled();
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Serial.print("hardware_disabled = ");
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Serial.println(hardware_disabled);
88+
Serial.println("*************************");
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Serial.println();
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91+
Serial.println("*************************");
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Serial.println("getStatus()");
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TMC2209::Status status = stepper_driver.getStatus();
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Serial.print("status.over_temperature_warning = ");
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Serial.println(status.over_temperature_warning);
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Serial.print("status.over_temperature_shutdown = ");
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Serial.println(status.over_temperature_shutdown);
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Serial.print("status.short_to_ground_a = ");
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Serial.println(status.short_to_ground_a);
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Serial.print("status.short_to_ground_b = ");
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Serial.println(status.short_to_ground_b);
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Serial.print("status.low_side_short_a = ");
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Serial.println(status.low_side_short_a);
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Serial.print("status.low_side_short_b = ");
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Serial.println(status.low_side_short_b);
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Serial.print("status.open_load_a = ");
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Serial.println(status.open_load_a);
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Serial.print("status.open_load_b = ");
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Serial.println(status.open_load_b);
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Serial.print("status.over_temperature_120c = ");
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Serial.println(status.over_temperature_120c);
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Serial.print("status.over_temperature_143c = ");
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Serial.println(status.over_temperature_143c);
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Serial.print("status.over_temperature_150c = ");
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Serial.println(status.over_temperature_150c);
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Serial.print("status.over_temperature_157c = ");
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Serial.println(status.over_temperature_157c);
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Serial.print("status.current_scaling = ");
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Serial.println(status.current_scaling);
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Serial.print("status.stealth_chop_mode = ");
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Serial.println(status.stealth_chop_mode);
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Serial.print("status.standstill = ");
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Serial.println(status.standstill);
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Serial.println("*************************");
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Serial.println();
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Serial.println();
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delay(DELAY);
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}

‎examples/ESPIDFExample/sdkconfig.defaults

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# Required by the android-esp32 component.
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CONFIG_FREERTOS_HZ=1000

‎idf_component.yml

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dependencies:
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idf:
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version: ">=5.3.0"
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arduino-esp32:
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version: "*"

‎src/TMC2209.h

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@@ -86,10 +86,16 @@ class TMC2209
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void setAllCurrentValues(uint8_t run_current_percent,
8787
uint8_t hold_current_percent,
8888
uint8_t hold_delay_percent);
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void setRMSCurrent(uint16_t mA,
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float rSense,
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float holdMultiplier = 0.5f);
8992

9093
void enableDoubleEdge();
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void disableDoubleEdge();
9295

96+
void enableVSense();
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void disableVSense();
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9399
void enableInverseMotorDirection();
94100
void disableInverseMotorDirection();
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@@ -279,6 +285,9 @@ class TMC2209
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const static uint8_t STEPPER_DRIVER_FEATURE_OFF = 0;
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const static uint8_t STEPPER_DRIVER_FEATURE_ON = 1;
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288+
const static uint8_t MAX_READ_RETRIES = 5;
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const static uint32_t READ_RETRY_DELAY_MS = 20;
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// Datagrams
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const static uint8_t WRITE_READ_REPLY_DATAGRAM_SIZE = 8;
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const static uint8_t DATA_SIZE = 4;
@@ -504,6 +513,8 @@ class TMC2209
504513
const static uint8_t MRES_001 = 0b1000;
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const static uint8_t DOUBLE_EDGE_DISABLE = 0;
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const static uint8_t DOUBLE_EDGE_ENABLE = 1;
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const static uint8_t VSENSE_DISABLE = 0;
517+
const static uint8_t VSENSE_ENABLE = 1;
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508519
const static size_t MICROSTEPS_PER_STEP_MIN = 1;
509520
const static size_t MICROSTEPS_PER_STEP_MAX = 256;

‎src/TMC2209/TMC2209.cpp

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@@ -223,6 +223,30 @@ void TMC2209::setAllCurrentValues(uint8_t run_current_percent,
223223
writeStoredDriverCurrent();
224224
}
225225

226+
void TMC2209::setRMSCurrent(uint16_t mA,
227+
float rSense,
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float holdMultiplier)
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{
230+
// Taken from https://github.com/teemuatlut/TMCStepper/blob/74e8e6881adc9241c2e626071e7328d7652f361a/src/source/TMCStepper.cpp#L41.
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232+
uint8_t CS = 32.0*1.41421*mA/1000.0*(rSense+0.02)/0.325 - 1;
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// If Current Scale is too low, turn on high sensitivity R_sense and calculate again
234+
if (CS < 16) {
235+
enableVSense();
236+
CS = 32.0*1.41421*mA/1000.0*(rSense+0.02)/0.180 - 1;
237+
} else { // If CS >= 16, turn off high_sense_r
238+
disableVSense();
239+
}
240+
241+
if (CS > 31) {
242+
CS = 31;
243+
}
244+
245+
driver_current_.irun = CS;
246+
driver_current_.ihold = CS*holdMultiplier;
247+
writeStoredDriverCurrent();
248+
}
249+
226250
void TMC2209::enableDoubleEdge()
227251
{
228252
chopper_config_.double_edge = DOUBLE_EDGE_ENABLE;
@@ -235,6 +259,18 @@ void TMC2209::disableDoubleEdge()
235259
writeStoredChopperConfig();
236260
}
237261

262+
void TMC2209::enableVSense()
263+
{
264+
chopper_config_.vsense = VSENSE_ENABLE;
265+
writeStoredChopperConfig();
266+
}
267+
268+
void TMC2209::disableVSense()
269+
{
270+
chopper_config_.vsense = VSENSE_DISABLE;
271+
writeStoredChopperConfig();
272+
}
273+
238274
void TMC2209::enableInverseMotorDirection()
239275
{
240276
global_config_.shaft = 1;
@@ -880,32 +916,43 @@ uint32_t TMC2209::read(uint8_t register_address)
880916
read_request_datagram.rw = RW_READ;
881917
read_request_datagram.crc = calculateCrc(read_request_datagram, READ_REQUEST_DATAGRAM_SIZE);
882918

883-
sendDatagramBidirectional(read_request_datagram, READ_REQUEST_DATAGRAM_SIZE);
884-
885-
uint32_t reply_delay = 0;
886-
while ((serialAvailable() < WRITE_READ_REPLY_DATAGRAM_SIZE) and
887-
(reply_delay < REPLY_DELAY_MAX_MICROSECONDS))
919+
for (uint8_t retry = 0; retry < MAX_READ_RETRIES; retry++)
888920
{
889-
delayMicroseconds(REPLY_DELAY_INC_MICROSECONDS);
890-
reply_delay += REPLY_DELAY_INC_MICROSECONDS;
891-
}
921+
sendDatagramBidirectional(read_request_datagram, READ_REQUEST_DATAGRAM_SIZE);
892922

893-
if (reply_delay >= REPLY_DELAY_MAX_MICROSECONDS)
894-
{
895-
return 0;
896-
}
923+
uint32_t reply_delay = 0;
924+
while ((serialAvailable() < WRITE_READ_REPLY_DATAGRAM_SIZE) and
925+
(reply_delay < REPLY_DELAY_MAX_MICROSECONDS))
926+
{
927+
delayMicroseconds(REPLY_DELAY_INC_MICROSECONDS);
928+
reply_delay += REPLY_DELAY_INC_MICROSECONDS;
929+
}
897930

898-
uint64_t byte;
899-
uint8_t byte_count = 0;
900-
WriteReadReplyDatagram read_reply_datagram;
901-
read_reply_datagram.bytes = 0;
902-
for (uint8_t i=0; i<WRITE_READ_REPLY_DATAGRAM_SIZE; ++i)
903-
{
904-
byte = serialRead();
905-
read_reply_datagram.bytes |= (byte << (byte_count++ * BITS_PER_BYTE));
931+
if (reply_delay >= REPLY_DELAY_MAX_MICROSECONDS)
932+
{
933+
return 0;
934+
}
935+
936+
uint64_t byte;
937+
uint8_t byte_count = 0;
938+
WriteReadReplyDatagram read_reply_datagram;
939+
read_reply_datagram.bytes = 0;
940+
for (uint8_t i=0; i<WRITE_READ_REPLY_DATAGRAM_SIZE; ++i)
941+
{
942+
byte = serialRead();
943+
read_reply_datagram.bytes |= (byte << (byte_count++ * BITS_PER_BYTE));
944+
}
945+
946+
auto crc = calculateCrc(read_reply_datagram, WRITE_READ_REPLY_DATAGRAM_SIZE);
947+
if (crc == read_reply_datagram.crc)
948+
{
949+
return reverseData(read_reply_datagram.data);
950+
}
951+
952+
delay(READ_RETRY_DELAY_MS);
906953
}
907954

908-
return reverseData(read_reply_datagram.data);
955+
return 0;
909956
}
910957

911958
uint8_t TMC2209::percentToCurrentSetting(uint8_t percent)

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