TMC5072 New API

TMC5072-EVAL/TMC5072_TMC_API/Examples/TMC5072-TMC-API.ino

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+/*******************************************************************************
+* Copyright © 2017 TRINAMIC Motion Control GmbH & Co. KG
+* (now owned by Analog Devices Inc.),
+*
+* Copyright © 2023 Analog Devices Inc. All Rights Reserved.
+* This software is proprietary to Analog Devices, Inc. and its licensors.
+*******************************************************************************/
+
+extern "C" {
+#include "TMC5072_HW_Abstraction.h"
+#include "TMC5072.h"
+#include "TMC5072_Simple_Rotation.h"
+}
+
+/* 
+ * TMC5072-EVAL_UART.ino
+ * 
+ * Created on: 20.02.2017
+ *     Author: MN
+ *     
+ *  The Trinamic TMC5072 motor controller and driver operates through Single 
+ *  Wire UART. This is 64 bits datagram (8 sync bytes, 8 bit slave address,
+ *  8 bit register address and 32 bit word).
+ *  Each register is specified by a one byte register address: with MSB = 0
+ *  for read, MSB = 1 for write.
+ *  
+ * Arduino Pins   Eval Board Pins
+ * 18 TX1         40 SWIOP
+ * 19 RX1         41 SWION
+ *  2 DIO         38 DIO16 (SWSEL)
+ *  4 DIO         33 SDO/RING
+ *  3 DIO          8 DIO0 (DRV_ENN)
+ * 10 DIO         23 CLK16
+ *    GND          2 GND
+ *    +5V          5 +5V
+ */
+
+#define IC_ID 0
+static TMC5072BusType activeBus = IC_BUS_UART;
+static uint8_t nodeAddress = 0;
+
+int SWSEL = 2;
+int DRV_ENN = 3;
+int SDO_RING = 4;
+const int CLOCKOUT = 10;
+
+uint8_t tmc5072_getNodeAddress(uint16_t icID) {
+  return nodeAddress;
+}
+
+TMC5072BusType tmc5072_getBusType(uint16_t icID) {
+  return activeBus;
+}
+
+void tmc5072_readWriteSPI(uint16_t icID, uint8_t *data, size_t dataLength){
+
+}
+
+bool tmc5072_readWriteUART(uint16_t icID, uint8_t *data, size_t writeLength, size_t readLength) {
+    Serial1.write(data, writeLength);
+    delay(2); // Ensure this delay is appropriate for your setup
+
+    unsigned long startTime = millis();
+
+    // Wait for write echo
+    while (Serial1.available() < readLength) {
+        if (millis() - startTime >= 1000) {
+          Serial.println("Serial Write Timeout!");
+          return false; // Timeout
+        }
+    }
+
+    // Skip the echoed bytes
+    Serial1.readBytes(data, writeLength);
+
+    // Wait for the actual response
+    startTime = millis();
+    while (Serial1.available() < readLength) {
+        if (millis() - startTime >= 1000) {
+            Serial.println("Serial Read Timeout!");
+            return false; // Timeout
+        }
+    }
+
+    // Read the actual response
+    Serial1.readBytes(data, readLength);
+    return true;
+}
+
+
+void setup() {
+
+  pinMode(SWSEL, OUTPUT);  
+  pinMode(CLOCKOUT,OUTPUT);
+  pinMode(DRV_ENN, OUTPUT);
+  pinMode(SDO_RING, OUTPUT);
+
+  digitalWrite(DRV_ENN, LOW);
+  //HIGH = power stage disabled, LOW = power stage enabled  
+  digitalWrite(SWSEL, HIGH);
+  //HIGH = UART mode, LOW = SPI mode 
+  digitalWrite(SDO_RING, HIGH);
+  //HIGH = ring mode, LOW = normal mode
+
+  //setup timer2
+  TCCR2A = ((1 << WGM21) | (1 << COM2A0));
+  TCCR2B = (1 << CS20);
+  TIMSK2 = 0;
+  OCR2A = 0;
+
+  Serial.begin(115200);
+  Serial1.begin(115200);
+
+  delay(500);
+  // tmc5072_writeRegister(IC_ID, TMC5072_SLAVECONF, 0x00000001); //SLAVEADDR to 1
+  // delay(500);
+
+  initAllMotors(IC_ID);
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  Serial.print("X Actual, Motor 0: 0x");
+  Serial.println(tmc5072_readRegister(IC_ID, TMC5072_XACTUAL(0)), HEX);  //read out XACTUAL of motor 1
+  Serial.print("X Actual, Motor 1: 0x");
+  Serial.println(tmc5072_readRegister(IC_ID, TMC5072_XACTUAL(1)), HEX);  //read out XACTUAL of motor 2
+
+  tmc5072_writeRegister(IC_ID, TMC5072_XTARGET(0), 0x0007D000);
+  //XTARGET=512000 | 10 revolutions with micro step = 256
+  tmc5072_writeRegister(IC_ID, TMC5072_XTARGET(1), 0xFFF83000);
+  //XTARGET=-512000 | 10 revolutions with micro step = 256
+
+  delay(15000);
+
+  Serial.print("X Actual, Motor 0: 0x");
+  Serial.println(tmc5072_readRegister(IC_ID, TMC5072_XACTUAL(0)), HEX);  //read out XACTUAL of motor 1
+  Serial.print("X Actual, Motor 1: 0x");
+  Serial.println(tmc5072_readRegister(IC_ID, TMC5072_XACTUAL(1)), HEX);  //read out XACTUAL of motor 2
+
+  tmc5072_writeRegister(IC_ID, TMC5072_XTARGET(0), 0x00000000); //XTARGET=0
+  tmc5072_writeRegister(IC_ID, TMC5072_XTARGET(1), 0x00000000); //XTARGET=0
+
+  delay(15000);
+}