Program for getting the settings and status from two drivers?

Question

Program for getting the settings and status from two drivers?

adamaero opened this issue a year ago · 9 comments

Original:
https://github.com/janelia-arduino/TMC2209/blob/main/examples/BidirectionalCommunication/SettingsAndStatus/SettingsAndStatus.ino

My attempt:

#include <TMC2209.h>

HardwareSerial &serial_stream_1 = Serial3; // Connect to the first TMC2209
HardwareSerial &serial_stream_2 = Serial2; // Connect to the second TMC2209

const int DELAY = 2000;

// Instantiate TMC2209 for the first motor driver
TMC2209 stepper_driver_1;

// Instantiate TMC2209 for the second motor driver
TMC2209 stepper_driver_2;

void setup()
{
  Serial.begin(115200);

  // Initialize the first TMC2209 motor driver
  stepper_driver_1.setup(serial_stream_1);

  // Initialize the second TMC2209 motor driver
  stepper_driver_2.setup(serial_stream_2);

  // Perform initial setup for both motor drivers
  setupMotorDriver(stepper_driver_1);
  setupMotorDriver(stepper_driver_2);
}

void loop()
{
  // Control the first motor driver (stepper_driver_1)
  Serial.println("First Motor Driver:");
  moveMotor(stepper_driver_1, 1000); // Move the first motor
  // Add more control code for the first motor driver here

  // Control the second motor driver (stepper_driver_2)
  Serial.println("Second Motor Driver:");
  moveMotor(stepper_driver_2, -1000); // Move the second motor
  // Add more control code for the second motor driver here

  // Query and print the status and settings for both motor drivers
  queryStatusAndSettings(stepper_driver_1, "First Motor Driver");
  queryStatusAndSettings(stepper_driver_2, "Second Motor Driver");

  delay(DELAY);
}

void setupMotorDriver(TMC2209 &driver)
{
  // Configure motor driver settings for each driver here
  TMC2209::Settings settings;

  // Example configuration (you can customize these settings)
  settings.stealth_chop_enabled = true;
  settings.microsteps_per_step = 64;
  settings.ihold_register_value = 0x0F; // Adjust current settings as needed
  settings.automatic_current_scaling_enabled = true;
  settings.automatic_gradient_adaptation_enabled = true;
  settings.pwm_offset = 4;
  settings.pwm_gradient = 3;
  settings.cool_step_enabled = true;
  settings.analog_current_scaling_enabled = false;
  settings.internal_sense_resistors_enabled = false;

  // Set the motor driver settings
  driver.setStealthChopEnabled(settings.stealth_chop_enabled);
  driver.setMicrostepsPerStep(settings.microsteps_per_step);
  driver.setIHoldRegisterValue(settings.ihold_register_value);
  driver.setAutomaticCurrentScalingEnabled(settings.automatic_current_scaling_enabled);
  driver.setAutomaticGradientAdaptationEnabled(settings.automatic_gradient_adaptation_enabled);
  driver.setPWMOffset(settings.pwm_offset);
  driver.setPWMGradient(settings.pwm_gradient);
  driver.setCoolStepEnabled(settings.cool_step_enabled);
  driver.setAnalogCurrentScalingEnabled(settings.analog_current_scaling_enabled);
  driver.setInternalSenseResistorsEnabled(settings.internal_sense_resistors_enabled);

  // Print the updated settings
  printSettings(settings);
}

void moveMotor(TMC2209 &driver, long steps)
{
  // Move the motor with the specified number of steps
  driver.setTargetPosition(driver.getPosition() + steps);
  while (!driver.isStandstill())
  {
    // Wait for the motor to reach the target position
  }
}

void queryStatusAndSettings(TMC2209 &driver, const char *driverName)
{
  Serial.println("*************************");
  Serial.println(driverName);

  // Query and print the motor driver settings
  TMC2209::Settings settings;
  driver.copyTo(settings);
  printSettings(settings);

  Serial.println("*************************");
  Serial.println("hardwareDisabled()");
  bool hardware_disabled = driver.hardwareDisabled();
  Serial.print("hardware_disabled = ");
  Serial.println(hardware_disabled);
  Serial.println("*************************");
  Serial.println();

  Serial.println("*************************");
  Serial.println("getStatus()");
  TMC2209::Status status = driver.getStatus();
  printStatus(status);
  Serial.println("*************************");
  Serial.println();
}

void printSettings(const TMC2209::Settings &settings)
{
  Serial.println("*************************");
  Serial.println("Current Motor Driver Settings:");
  Serial.print("settings.stealth_chop_enabled = ");
  Serial.println(settings.stealth_chop_enabled);
  Serial.print("settings.microsteps_per_step = ");
  Serial.println(settings.microsteps_per_step);
  Serial.print("settings.ihold_register_value = ");
  Serial.println(settings.ihold_register_value);
  Serial.print("settings.automatic_current_scaling_enabled = ");
  Serial.println(settings.automatic_current_scaling_enabled);
  Serial.print("settings.automatic_gradient_adaptation_enabled = ");
  Serial.println(settings.automatic_gradient_adaptation_enabled);
  Serial.print("settings.pwm_offset = ");
  Serial.println(settings.pwm_offset);
  Serial.print("settings.pwm_gradient = ");
  Serial.println(settings.pwm_gradient);
  Serial.print("settings.cool_step_enabled = ");
  Serial.println(settings.cool_step_enabled);
  Serial.print("settings.analog_current_scaling_enabled = ");
  Serial.println(settings.analog_current_scaling_enabled);
  Serial.print("settings.internal_sense_resistors_enabled = ");
  Serial.println(settings.internal_sense_resistors_enabled);
  Serial.println("*************************");
}

void printStatus(const TMC2209::Status &status)
{
  Serial.println("Current Motor Driver Status:");
  Serial.print("status.over_temperature_warning = ");
  Serial.println(status.over_temperature_warning);
  Serial.print("status.over_temperature_shutdown = ");
  Serial.println(status.over_temperature_shutdown);
  Serial.print("status.short_to_ground_a = ");
  Serial.println(status.short_to_ground_a);
  Serial.print("status.short_to_ground_b = ");
  Serial.println(status.short_to_ground_b);
  Serial.print("status.low_side_short_a = ");
  Serial.println(status.low_side_short_a);
  Serial.print("status.low_side_short_b = ");
  Serial.println(status.low_side_short_b);
  Serial.print("status.open_load_a = ");
  Serial.println(status.open_load_a);
  Serial.print("status.open_load_b = ");
  Serial.println(status.open_load_b);
  Serial.print("status.over_temperature_120c = ");
  Serial.println(status.over_temperature_120c);
  Serial.print("status.over_temperature_143c = ");
  Serial.println(status.over_temperature_143c);
  Serial.print("status.over_temperature_150c = ");
  Serial.println(status.over_temperature_150c);
  Serial.print("status.over_temperature_157c = ");
  Serial.println(status.over_temperature_157c);
  Serial.print("status.current_scaling = ");
  Serial.println(status.current_scaling);
  Serial.print("status.stealth_chop_mode = ");
  Serial.println(status.stealth_chop_mode);
  Serial.print("status.standstill = ");
  Serial.println(status.standstill);
  Serial.println("*************************");
}

Answer 1 · 2023-09-01T16:58:10.000Z

Hi,

Is your code working or are you running into problems?

At a quick glance it looks like your approach should work fine.

Answer 2 · 2023-09-01T19:23:34.000Z

There was some issue with the settings. I attempted to change the settings. So instead, I just left the default settings:

/*
https://github.com/janelia-arduino/TMC2209/blob/main/examples/BidirectionalCommunication/SettingsAndStatus/SettingsAndStatus.ino

Pintout:
 Mega   TMC2099
 17RX2 ↔ TX (X stepper driver)
 15RX3 ↔ TX (Y stepper driver)


*/

#include <TMC2209.h>

const int dirPinX = 13;
const int stepPinX = 12;

const int dirPinY = 8;
const int stepPinY = 7;


int resetXcount = 0, resetYcount = 0, stepXcount = 0, stepYcount = 0;

//float deltaTheta = PI/8000;             // Original
float deltaTheta = PI / 8000;             // Adjust this when gear ratio changes
float A = 80;       // Amplitude - scaling (stretching/shifting)
float deltaX = 0, deltaY = 0, theta = 0;
float x_1 = 0, x_2 = 0, y_1 = 0, y_2 = 0;

HardwareSerial &serial_stream_1 = Serial3; // Connect to the first TMC2209
HardwareSerial &serial_stream_2 = Serial2; // Connect to the second TMC2209

const int DELAY = 2000;

// Instantiate TMC2209 for the first motor driver
TMC2209 stepper_driver_1;

// Instantiate TMC2209 for the second motor driver
TMC2209 stepper_driver_2;

void setup()
{
  Serial.begin(115200);

  // Initialize the first TMC2209 motor driver
  stepper_driver_1.setup(serial_stream_1);

  // Initialize the second TMC2209 motor driver
  stepper_driver_2.setup(serial_stream_2);

  pinMode(stepPinX, OUTPUT);
  pinMode(dirPinX, OUTPUT);
  pinMode(stepPinY, OUTPUT);
  pinMode(dirPinY, OUTPUT);

  deltaX  = 0;   //(dirPinX, LOW);  // right
  deltaY  = 0;   //(dirPinY, LOW);  // away
  for (int i = 0; i < 22000; i++)
  {
    stepX();
    stepY();

    digitalWrite(stepPinX, LOW);
    digitalWrite(stepPinY, LOW);
    delayMicroseconds(200);
  }  
}

void loop()
{

  /*
   *  Move motors function calls
   */



  // Query and print the status and settings for both motor drivers
  queryStatusAndSettings(stepper_driver_1, "First Motor Driver");
  queryStatusAndSettings(stepper_driver_2, "Second Motor Driver");

  delay(DELAY);
}




void queryStatusAndSettings(TMC2209 &driver, const char *driverName)
{
  Serial.println("*************************");
  Serial.println(driverName);

  // Query and print the motor driver settings
  TMC2209::Settings settings;
//  driver.copyTo(settings);
//  printSettings(settings);

  Serial.println("*************************");
  Serial.println("hardwareDisabled()");
  bool hardware_disabled = driver.hardwareDisabled();
  Serial.print("hardware_disabled = ");
  Serial.println(hardware_disabled);
  Serial.println("*************************");
  Serial.println();

  Serial.println("*************************");
  Serial.println("getStatus()");
  TMC2209::Status status = driver.getStatus();
  printStatus(status);
  Serial.println("*************************");
  Serial.println();
}

void printSettings(const TMC2209::Settings &settings)
{
  Serial.println("*************************");
  Serial.println("Current Motor Driver Settings:");
  Serial.print("settings.stealth_chop_enabled = ");
  Serial.println(settings.stealth_chop_enabled);
  Serial.print("settings.microsteps_per_step = ");
  Serial.println(settings.microsteps_per_step);
  Serial.print("settings.ihold_register_value = ");
  Serial.println(settings.ihold_register_value);
  Serial.print("settings.automatic_current_scaling_enabled = ");
  Serial.println(settings.automatic_current_scaling_enabled);
  Serial.print("settings.automatic_gradient_adaptation_enabled = ");
  Serial.println(settings.automatic_gradient_adaptation_enabled);
  Serial.print("settings.pwm_offset = ");
  Serial.println(settings.pwm_offset);
  Serial.print("settings.pwm_gradient = ");
  Serial.println(settings.pwm_gradient);
  Serial.print("settings.cool_step_enabled = ");
  Serial.println(settings.cool_step_enabled);
  Serial.print("settings.analog_current_scaling_enabled = ");
  Serial.println(settings.analog_current_scaling_enabled);
  Serial.print("settings.internal_sense_resistors_enabled = ");
  Serial.println(settings.internal_sense_resistors_enabled);
  Serial.println("*************************");
}

void printStatus(const TMC2209::Status &status)
{
  // Current Motor Driver Status If Flag:
  
  if (status.over_temperature_warning == 1) {
    Serial.print("status.over_temperature_warning = ");
    Serial.println(status.over_temperature_warning);
  }

  if (status.over_temperature_shutdown == 1) {
    Serial.print("status.over_temperature_shutdown = ");
    Serial.println(status.over_temperature_shutdown);
  }

  if (status.short_to_ground_a == 1) {
    Serial.print("status.short_to_ground_a = ");
    Serial.println(status.short_to_ground_a);
  }

  if (status.short_to_ground_b == 1) {
    Serial.print("status.short_to_ground_b = ");
    Serial.println(status.short_to_ground_b);
  }

  if (status.low_side_short_a == 1) {
    Serial.print("status.low_side_short_a = ");
    Serial.println(status.low_side_short_a);
  }

  if (status.low_side_short_b == 1) {
    Serial.print("status.low_side_short_b = ");
    Serial.println(status.low_side_short_b);
  }

  if (status.open_load_a == 1) {
    Serial.print("status.open_load_a = ");
    Serial.println(status.open_load_a);
  }

  if (status.open_load_b == 1) {
    Serial.print("status.open_load_b = ");
    Serial.println(status.open_load_b);
  }

  if (status.over_temperature_120c == 1) {
    Serial.print("status.over_temperature_120c = ");
    Serial.println(status.over_temperature_120c);
  }

  if (status.over_temperature_143c == 1) {
    Serial.print("status.over_temperature_143c = ");
    Serial.println(status.over_temperature_143c);
  }

  if (status.over_temperature_150c == 1) {
    Serial.print("status.over_temperature_150c = ");
    Serial.println(status.over_temperature_150c);
  }

  if (status.over_temperature_157c == 1) {
    Serial.print("status.over_temperature_157c = ");
    Serial.println(status.over_temperature_157c);
  }

  if (status.current_scaling == 1) {
    Serial.print("status.current_scaling = ");
    Serial.println(status.current_scaling);
  }

  if (status.stealth_chop_mode == 1) {
    Serial.print("status.stealth_chop_mode = ");
    Serial.println(status.stealth_chop_mode);
  }

  if (status.standstill == 1) {
    Serial.print("status.standstill = ");
    Serial.println(status.standstill);
  }
  Serial.println("*************************");
}
void stepX()
{
  if (deltaX < 0) // Set motor direction clockwise
    digitalWrite(dirPinX, HIGH);
  else
    digitalWrite(dirPinX, LOW);

  digitalWrite(stepPinX, HIGH);
    delayMicroseconds(5);
}


void stepY()
{
  if (deltaY < 0) // Set motor direction clockwise
    digitalWrite(dirPinY, HIGH);
  else
    digitalWrite(dirPinY, LOW);

  digitalWrite(stepPinY, HIGH);
    delayMicroseconds(5);

}

Answer 3 · 2023-09-20T17:23:18.000Z

if (status.over_temperature_120c == 1)

Is that right?

Do the settings need to be modified? Or should it work with the commented out sections?

Answer 4 · 2023-09-21T13:43:33.000Z

You should be able to use the method getStatus() to get the most recent status regardless of the other settings. Then you can check to see if status.over_temperature_120c is equal to one.

Answer 5 · 2023-09-21T13:44:55.000Z

if status.over_temperature_120c is equal to one.

Ok, so that's the right format. I wasn't sure if there was some other conditional criteria (besides "1").

Answer 6 · 2023-09-21T13:52:36.000Z

Oh well I think it is cleaner to use:
if (status.over_temperature_120c)
rather than:
if (status.over_temperature_120c == 1)

1 is true and 0 is false so you do not need to add the equal to one check.

Answer 7 · 2023-09-27T16:19:23.000Z

Is there a way to test if any status, ideally some lower temperature, is working?

Answer 8 · 2023-09-28T16:49:56.000Z

I am not sure what you mean exactly, but yes you can check one of the status bits and then print a message if that bit is true.

if (status.over_temperature_120c) { Serial.println("Warning driver temperature over 120C!"); }

Answer 9 · 2023-09-29T15:42:07.000Z

Ok. The main issue was not connecting to the RX pin of the BIGTREETECH dev board.

Now it all works.

I tested the status program out by shorting each coil to ground and opening each motor coil.