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TMC5160_SPI_Example.ino

@@ -30,7 +30,7 @@
 #include <TMCStepper.h>
 #include <TMCStepper_UTILITY.h>
 
-#define TMC5160_SPI_EXAMPLE_VERSION 0x000101 //v0.1.1
+#define TMC5160_SPI_EXAMPLE_VERSION 0x000102 //v0.1.2
 
 #define pi 3.1415926535 //Pi is used in calculating the drivers initial pwm gradient for autotuning the motor
 
@@ -139,13 +139,27 @@
  Finally we calculate the drivers PWM off time.
  ***********************************************************/
 
-float nominal_amps = ( ((motor_milliamps * motor_voltage) / supply_voltage) * 1.0 ),
- cbemf = ( motor_hold_torque / (2 * nominal_amps) ),
- really_small_number = ( (1 / drv_chop_freq) ),
- microsteps_per_rev = 51200/*( (motor_counts * drv_microstep_res) )*/,
- drv_pwm_grad = ( (cbemf * 2 * pi * ( (drv_clock * 1.46) / (supply_voltage * microsteps_per_rev))) ),
- drv_pwm_ofs = ( (374 * motor_resistance * (nominal_amps / 1000)) / supply_voltage),
- driv_toff = ( 3/*really_small_number * drv_clock / 10(((1 / drv_chop_freq) * (drv_decay_percent / 100) * .5) * drv_clock - 12) / 32*/ );
+float nominal_amps = ( ((motor_milliamps * motor_voltage) / supply_voltage) * 1.0 ), //calculate the voltage based curent
+ cbemf = ( motor_hold_torque / (2 * nominal_amps) ), //calc the back emf constant of the motor
+ really_small_number = ( (1 / drv_chop_freq) ), //testing to driv_toff to calc the number
+ microsteps_per_rev = 51200/*( (motor_counts * drv_microstep_res) )*/, //testing to get the micro steps per rev calced
+ drv_pwm_grad = ( (cbemf * 2 * pi * ( (drv_clock * 1.46) / (supply_voltage * microsteps_per_rev))) ), //calculate the pwm gradient
+ drv_pwm_ofs = ( (374 * motor_resistance * (nominal_amps / 1000)) / supply_voltage), calculate teh pwm offest
+ driv_toff = ( 3/*really_small_number * drv_clock / 10(((1 / drv_chop_freq) * (drv_decay_percent / 100) * .5) * drv_clock - 12) / 32*/ ); //calculatethe toff of the motor, currently does not calculate value
+
+float pwm_sum_base, //base pwm sum value to be tested in autotune to find optimal set points
+ pwm_sum_tune; //pwm sum value while in the loop for set point optimation
+
+long tstep_min = 1048575, //minimum tstep value to assist in velocity based mode change settings
+ tstep_max = 0; //max value while motor is running
+
+int autotune_optimized_up_cnt, //variable to count how many times the up autotune has resulted in the optimial value of pwm sum
+ autotune_optimized_dn_cnt, //variable to count how many times the down autotune has resulted in optimal value of pwm sum
+ autotune_average_optimize_cnt; //variable for when we try to optimize the pwm sum for both up and down.
+
+bool autotune_optimization_flag, //this flag will go high once autotune optimization is complete or pwm_sum_tune is the lowest it can get for a given number auto tune loops
+ stall_flag, //flag for when motor is stalled
+
 
 /***********************************************************
  Using the example motor, this gives us results of:
@@ -264,27 +278,91 @@ void setup() {
  driver.D1(25600); //mid deccel steps/sec2 ( steps/sec2)
  }
 
- /*Now that all the minimum settings to get a TMC5160 are set, well read all the registers again, to check settings*/
- read_registers(); //Read all TMC5160 readable registers. Should read initial power presets or last configuration.
- Serial.println(""); //add a new line to seperate information
-
- /*Perform zero crossing calibration. No idea what it does, I just do it act as a starting point.*/
- digitalWrite(drv_en, HIGH); //disable the driver to clear short circuit fault
- driver.recalibrate(1); //Perform an initial zero crossing calibration
- delay(1000); //wait 1 second for calibration
- driver.recalibrate(0); //finish initial zero crossing calibration
- digitalWrite(drv_en, LOW); //enable the driver
- driver.GSTAT(0b111); //clear gstat faults
-
- /*Read all registers again see that GSTAT has cleared, and to make sure some of the other faults are cleared as well.*/
- read_registers(); //Read all TMC5160 readable registers. Should read initial power presets or last configuration.
- Serial.println(""); //add a new line to seperate information
-
- /*Now lets start the first actual move to see if everything worked, and to hear what the stepper sounds like.*/
- if (driver.position_reached() == 1) driver.XTARGET((100 / motor_mm_per_microstep));
- while(driver.position_reached() == 0);
- if (driver.position_reached() == 1) driver.XTARGET(0);
- while(driver.position_reached() == 0);
+ /*First motion*/{
+ /*Now that all the minimum settings to get a TMC5160 are set, well read all the registers again, to check settings*/
+ read_registers(); //Read all TMC5160 readable registers. Should read initial power presets or last configuration.
+ Serial.println(""); //add a new line to seperate information
+
+ /*Perform zero crossing calibration. No idea what it does, I just do it act as a starting point.*/
+ digitalWrite(drv_en, HIGH); //disable the driver to clear short circuit fault
+ driver.recalibrate(1); //Perform an initial zero crossing calibration
+ delay(1000); //wait 1 second for calibration
+ driver.recalibrate(0); //finish initial zero crossing calibration
+ digitalWrite(drv_en, LOW); //enable the driver
+ driver.GSTAT(0b111); //clear gstat faults
+
+ /*Read all registers again see that GSTAT has cleared, and to make sure some of the other faults are cleared as well.*/
+ read_registers(); //Read all TMC5160 readable registers. Should read initial power presets or last configuration.
+ Serial.println(""); //add a new line to seperate information
+
+ /*Now lets start the first actual move to see if everything worked, and to hear what the stepper sounds like.*/
+ if (driver.position_reached() == 1) driver.XTARGET((100 / motor_mm_per_microstep));
+ while (driver.position_reached() == 0);
+ if (driver.position_reached() == 1) driver.XTARGET(0);
+ while (driver.position_reached() == 0);
+ }
+
+ /*Silent step and autotuning*/{
+ /* stealth settings */ {
+ driver.en_pwm_mode(1); //no silent step
+ driver.TPWMTHRS(75); //65 decent point to avoid skips and mechanical load noise near top when and while moving down
+ driver.pwm_lim(29); //sets the pwm voltae limit
+ driver.pwm_autoscale(0); //automaic current scaling
+ driver.pwm_autograd(0); //automaic tuning
+ driver.pwm_ofs(drv_pwm_ofs); //user calculated pwm amplitude offset
+ driver.pwm_grad(drv_pwm_grad); //velocity pwm gradual
+ //driver.freewheel(0); //0 hold current action
+ }
+
+ Serial.println(F("Starting stealth chop autotune"));
+ driver.pwm_autoscale(1); //automaic current scaling
+ delay(360);
+ driver.XTARGET(100);
+ delay(200);
+ while (autotune_optimization_flag == 0) {
+ if (driver.position_reached() == 1) driver.XTARGET((200 / motor_mm_per_microstep));
+ stall_flag = 0;
+ while (driver.position_reached() == 0) {
+ if(z_axis.stallguard()==1 && stall_flag == 0){
+ stall_flag =1;
+ z_axis.XTARGET(z_axis.XACTUAL());
+ Serial.println(F("Motor stalled"));
+ break;
+ }
+
+ if(drive.TSTEP > tstep_max) tstep_max = drive.TSTEP;
+ if(drive.TSTEP < tstep_min) tstep_min = drive.TSTEP;
+ //use pwm sum to determine best speed for auto tuning, pwm sum needs to be as low as possible
+ //add skip step detection as well. exit autotune on skipped step
+ }
+ //add temp measuring during pause between up and down motions
+ if (driver.position_reached() == 1) {
+ delay(500);
+ driver.XTARGET(0);
+ stall_flag = 0;
+ while (driver.position_reached() == 0) {
+ if(z_axis.stallguard()==1 && stall_flag == 0){
+ stall_flag =1;
+ z_axis.XTARGET(z_axis.XACTUAL());
+ Serial.println(F("Motor stalled"));
+ break;
+ }
+ //include tstep reporting to tune for when best to impliment stealth and spread cycle
+ //use pwm sum to determine best speed for auto tuning, pwm sum needs to be as low as possible
+ //add skip step detection as well. exit autotune on skipped step988880
+ }
+ }
+
+ if(autotune_average_optimize_cnt == 5) autotune_optimization_flag = 1;
+ }
+ read_registers();
+ Serial.println(F("autotune finished"));
+
+ }
+
+
+
+
 
  digitalWrite(drv_en, HIGH); //disable in between tests to allow reseting of physical position if need be. And to allow changing of settings.
 
@@ -293,7 +371,7 @@ void setup() {
 
 void loop() {
  Serial.println("In loop");
- while(1);
+ while (1);
 
 } //end of loop
 //end of loop