/* TMC26XMotorTest.ino - - TMC26X Stepper library tester for Wiring/Arduino Copyright (c) 2011, Interactive Matter, Marcus Nowotny Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ #define INPUT_BUFFER_LENGTH 32 #define SERIAL_SPEED 115200 #define STATUS_COUNTER 100 char inputBuffer[INPUT_BUFFER_LENGTH+1]; //ad on character to keep the trainling 0 unsigned char inputBufferPosition; void startSerial() { Serial.begin(SERIAL_SPEED); Serial.println(F("=================================")); Serial.println(F("TMC26X Stepper Driver Motor Tester")); Serial.println(F("=================================")); //empty the input buffer for (unsigned char i=0; i< INPUT_BUFFER_LENGTH+1; i++) { inputBuffer[i]=0; } inputBufferPosition=0; } void loopSerial() { if (Serial.available()>0 && inputBufferPosition<INPUT_BUFFER_LENGTH) { char c = Serial.read(); //Read the char inputBuffer[inputBufferPosition]=c; inputBufferPosition++; //always terminate the string inputBuffer[inputBufferPosition]=0; //and if the line ended we execute the command if (c=='\n') { executeSerialCommand(); } } if (motor_moved) { Serial.print("#sg"); Serial.print(tmc26XStepper.getCurrentStallGuardReading(),DEC); Serial.print(",p"); Serial.print(tmc26XStepper.getMotorPosition(),DEC); Serial.print(",k"); Serial.print(tmc26XStepper.getCurrentCurrent(),DEC); Serial.println(','); motor_moved=0; } if (motor_counter>STATUS_COUNTER) { motor_counter=0; char moving = tmc26XStepper.isMoving(); Serial.print('#'); if (moving) { Serial.print('r'); } else { Serial.print('s'); } Serial.print(','); Serial.print('d'); Serial.print(direction); Serial.print(','); Serial.print("c"); Serial.print(tmc26XStepper.getCurrent(),DEC); Serial.print(','); Serial.print('S'); Serial.print(tmc26XStepper.getSpeed(),DEC); Serial.print(','); Serial.print('m'); Serial.print(tmc26XStepper.getMicrosteps(),DEC); Serial.print(','); Serial.print("t"); Serial.print(tmc26XStepper.getStallGuardThreshold(),DEC); Serial.print(','); Serial.print('f'); Serial.print(tmc26XStepper.getStallGuardFilter(),DEC); Serial.print(','); //print out the general cool step config if (tmc26XStepper.isCoolStepEnabled()) { Serial.print("Ke+,"); } else { Serial.print("Ke-,"); } Serial.print("Kl"); Serial.print(tmc26XStepper.getCoolStepLowerSgThreshold(),DEC); Serial.print(",Ku"); Serial.print(tmc26XStepper.getCoolStepUpperSgThreshold(),DEC); Serial.print(",Kn"); Serial.print(tmc26XStepper.getCoolStepNumberOfSGReadings(),DEC); Serial.print(",Ki"); Serial.print(tmc26XStepper.getCoolStepCurrentIncrementSize(),DEC); Serial.print(",Km"); Serial.print(tmc26XStepper.getCoolStepLowerCurrentLimit(),DEC); Serial.print(','); //detect the winding status if (tmc26XStepper.isOpenLoadA()) { Serial.print("ao,"); } else if(tmc26XStepper.isShortToGroundA()) { Serial.print("ag,"); } else { Serial.print("a-,"); } //detect the winding status if (tmc26XStepper.isOpenLoadB()) { Serial.print("bo,"); } else if(tmc26XStepper.isShortToGroundB()) { Serial.print("bg,"); } else { Serial.print("b-,"); } char temperature = tmc26XStepper.getOverTemperature(); if (temperature==0) { Serial.print("x-,"); } else if (temperature==TMC26X_OVERTEMPERATURE_PREWARING) { Serial.print("xw,"); } else { Serial.print("xe,"); } if (tmc26XStepper.isEnabled()) { Serial.print("e1,"); } else { Serial.print("e0,"); } //write out the current chopper config Serial.print("Cm"); Serial.print(chopperMode,DEC); Serial.print(",Co"); Serial.print(t_off,DEC); Serial.print(",Cb"); Serial.print(t_blank,DEC); if (chopperMode==0) { Serial.print(",Cs"); Serial.print(h_start,DEC); Serial.print(",Ce"); Serial.print(h_end,DEC); Serial.print(",Cd"); Serial.print(h_decrement,DEC); } Serial.print(','); Serial.println(); } } void executeSerialCommand() { Serial.print("Executing "); Serial.println(inputBuffer); //stimple runn & stop commands switch(inputBuffer[0]) { case 's': running = 0; break; case 'r': running = -1; break; case 'S': { int targetSpeed = decode(1); setSpeed(targetSpeed); } break; case 'm': { int microstepping = decode(1); setMicrostepping(microstepping); } break; case 't': { int threshold = decode(1); setStallGuardThreshold(threshold); } break; case 'f': { int filter = decode(1); setStallGuardFilter(filter); } break; case 'd': { int value = decode(1); tmc26XStepper.stop(); if (value<0) { direction=-1; } else { direction=1; } } break; case 'c': { int current = decode(1); setCurrent(current); } break; case 'e': { int enabled = decode(1); if (enabled) { tmc26XStepper.setEnabled(true); } else { tmc26XStepper.setEnabled(false); } } break; case 'C': switch(inputBuffer[1]) { case 'o': { int value = decode(2); if (value>0 && value<16) { t_off=value; updateChopper(); } } break; case 'b': { int value = decode(2); if (value>=0 && value<=3) { t_blank=value; updateChopper(); } } break; case 's': { int value = decode(2); if (value>=0 && value<=8) { h_start=value; updateChopper(); } } break; case 'e': { int value = decode(2); if (value>=-3 && value<=12) { h_end=value; updateChopper(); } } break; case 'd': { int value = decode(2); if (value>=0 && value<=3) { h_decrement=value; updateChopper(); } } break; } break; case 'K': switch(inputBuffer[1]) { case '+': tmc26XStepper.setCoolStepEnabled(true); break; case '-': tmc26XStepper.setCoolStepEnabled(false); break; case 'l': { int value = decode(2); if (value>=0 && value<480) { lower_SG_threshold=value; updateCoolStep(); } } break; case 'u': { int value = decode(2); if (value>=0 && value<480) { upper_SG_threshold=value; updateCoolStep(); } } break; case 'n': { int value = decode(2); if (value>=0 && value<4) { number_of_SG_readings=value; updateCoolStep(); } } break; case 'i': { int value = decode(2); if (value>=0 && value<4) { current_increment_step_size=value; updateCoolStep(); } } break; case 'm': { int value = decode(2); if (value>=0 && value<2) { lower_current_limit=value; updateCoolStep(); } } break; } break; } //at the end delete buffer inputBufferPosition=0; inputBuffer[0]=0; } int decode(unsigned char startPosition) { int result=0; boolean negative = false; if (inputBuffer[startPosition]=='-') { negative=true; startPosition++; } for (unsigned char i=startPosition; i< (INPUT_BUFFER_LENGTH+1) && inputBuffer[i]!=0; i++) { char number = inputBuffer[i]; //this very dumb approac can lead to errors, but we expect only numbers after the command anyway if (number <= '9' && number >='0') { result *= 10; result += number - '0'; } } if (negative) { return -result; } else { return result; } }