/* ************************************************************************** Copyright (C) 2007 TRINAMIC Motion Control GmbH & Co. KG Sternstrasse 67 D - 20357 Hamburg, Germany http://www.trinamic.com/ This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. ************************************************************************** */ /* ************************************************************************** File : tmc428demo.c Version : 1.0 / December 12, 2002 2.0 / October 14, 2007 : StallGuard Profiler(s) version History : July 12, 2005 : company address updated, routines for full initialization of the TMC428 added September 30, 2007 : StallGuard Profiler(s) added, -com added, pls. refer 'tmc428_misc.c' for details, the StallGuard Profiler demonstrates how to read out the TRINAMIC stepper motor diagnosis bits with the TMC428 by reading the datagram_low_word and datagram_high_word October 14, 2007 : Version 2.0 completed Description : Example, how to use the tmc428spi, tmc428spi4win resp. tmc428spi4avr routines to control the TMC428. It is an console application without GUI. Execute the cmd.exe command shell from the Win Start Menu. Then go to the directory path where the 'tmc428demo.exe' is. Then you can run the tmc428demo with different command line options. For example, the command line tmc428demo -s 1 -a 100 -v 200 -x 10000 drives the stepper motor 0 with an acceleration of 100 and with a velocity of 200 to position 10000. To run a simple StallGuard demo with e.g. a_max = 100 just enter a speed by -v and a StallGuard level by -sgl tmc428demo -s 1 -a 100 -v 500 -sgl 3 To run the StallGuard profiler in VELOCITY_MODE with e.g. a_max = 100 from v_target = 100 to v_target = 1000 with velocity step increments of width 50 enter tmc428demo -s 1 -a 100 -sgp 100 1000 50 0 0 To run the StallGuard profiler in RAMP_MODE with e.g. a_max = 1000 from v_target = 100 to v_target = 1000 with velocity step increments of width 50 between position x_min -2000 and x_max 2000 tmc428demo -s 1 -a 1000 -sgp 100 1000 50 -2000 2000 Within this example - running the StallGuard profiler in RAMP_MODE - a higher acceleration a_max is required to reach the target velocity within the limited motion range between position x_min -2000 and x_max 2000. For unit of these motion parameters please refer the TMC428 datasheet and spread sheet 'tmc428_frequencies.xls' that is available on the TECHlibCD and www.trinamic.com This application directly controls TMC428 Evaluation Kits. Please take into account that many other important TMC428 parameters are initialized by TMC428 Eval-Board Firmware (also available as C source on the TECHlibCD) on power-up. Please refer to the application note entitled "TMC428 - Getting Started" that is available on the TRINAMIC TECHlibCD and www.trinamic.com ************************************************************************* */ #include #include #include #include "rs232win.h" #include #include #include #include #include #include "tmc428spi4win.h" #include "tmc428_base.h" #include "tmc428_misc.h" #include "tmc428spi.h" #define TRUE 1 #define FALSE 0 #define MAXLEN 1000 #define PI2 6.283185307 #define PI 3.141592653 HANDLE GLOBAL_ComHandle = NULL; /* ------------------------------------------------------------------------- */ void header(void) { fprintf(stderr," tmc428demo - A TMC428 demo (runs with TMC428-EvalKit)\n"); fprintf(stderr," ( Version : %s / %s )\n",__DATE__,__TIME__); } void usage(void) { fprintf(stderr,"\n"); header(); fprintf(stderr,"\n"); fprintf(stderr, " USAGE: tmc428demo {-option } > \n" " \n" " EXAMPLES: \n" " \n" " tmc428demo -s 1 -a 100 -v 500 -x 10000 (RAMP_MODE) \n" " \n" " tmc428demo -s 1 -a 100 -v 500 -sgl 5 (StallGuard Demo) \n" " \n" " tmc428demo -s 1 -a 100 -sgp 100 1000 50 0 0 (StallGuard Profiler) \n" " tmc428demo -s 1 -a 1000 -sgp 100 1000 50 -2000 2000 (StallGuard Profiler) \n" " \n" " OPTIONS: -s {0,1,2} : stepper motor number \n" " -a : acceleration parameter a_max \n" " -v : velocity parameter v_max \n" " -x : target position x_target \n" " -com {1,2,..} : set COM1:, COM2:, ... (default = COM1:) \n" " -f_clk : clock frequency in Hz \n" " \n" " \n" ); } /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */ // void tmc428demo_ramp_mode_run(...) // run positioning to x_target (TBD) // void tmc428demo_velocity_mode_run(...) // run with velocity v_target (TBD) /* ------------------------------------------------------------------------- */ void main(int argc, char **argv) { // long int spi, spo; // 32 bit SPI datagramms HANDLE ComHandle = NULL; char **argp; int ch=0; double PIdeal, PBest; int pulse_div, ramp_div, pmul, pdiv, usrs; int c=1, s, a, v, x, sm, v_min, v_max, a_max, x_target, sgl=9, sgp=0, sgpx=0, vmin=1, vmax=2047, vstp=1, xmin=0, xmax=0; float f_clk=8000000.0, fs_per_s=0.0; // f_clk = 8 MHz for the TMC428 Eval Board int lsmd=3; // int mot1r, refmux, cont_updt, clk2_div, cs_comind, dac, fd, ph, sck, nscs, lsmd; int com=1, error_code=-1, baud=19200; // parameters for the RS232 of the PC unsigned char tmc428_ram_tab[128] = // RAM table according to example within TMC428 data sheet { 0x10, 0x05, 0x04, 0x03, 0x02, 0x06, 0x10, 0x0D, 0x0C, 0x0B, 0x0A, 0x2E, 0x10, 0x05, 0x04, 0x03, 0x02, 0x06, 0x10, 0x0D, 0x0C, 0x0B, 0x0A, 0x2E, 0x07, 0x05, 0x04, 0x03, 0x02, 0x06, 0x0f, 0x0D, 0x0C, 0x0B, 0x0A, 0x2E, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x00, 0x02, 0x03, 0x05, 0x06, 0x08, 0x09, 0x0B, 0x0C, 0x0E, 0x10, 0x11, 0x13, 0x14, 0x16, 0x17, 0x18, 0x1A, 0x1B, 0x1D, 0x1E, 0x20, 0x21, 0x22, 0x24, 0x25, 0x26, 0x27, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F, 0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x38, 0x39, 0x3A, 0x3B, 0x3B, 0x3C, 0x3C, 0x3D, 0x3D, 0x3E, 0x3E, 0x3E, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F }; s = a = v = x = v_min = v_max = a_max = x_target = 0; vmin = vmax = vstp = xmin = xmax = 0; // 1st scan the input parameters ------------------------------------------- if (argc>1) { while (argv++, argc--) { argp = argv + 1; if (*argp==NULL) break; if ( (!strcmp(*argv,"-s")) ) { sscanf(*argp,"%d",&s); } else if ( (!strcmp(*argv,"-a")) ) { sscanf(*argp,"%d",&a); } else if ( (!strcmp(*argv,"-v")) ) { sscanf(*argp,"%d",&v); } else if ( (!strcmp(*argv,"-x")) ) { sscanf(*argp,"%d",&x); } else if ( (!strcmp(*argv,"-sgl")) ) { sscanf(*argp,"%d",&sgl); } // StallGuard level 'sgl' for interactive mode else if ( (!strcmp(*argv,"-sgp")) ) { sgp=1; if (argc>5) sscanf(*(argp+0),"%d",&vmin); if (argc>5) { sscanf(*(argp+1),"%d",&vmax); v=vmax; } // sets v resp. overwrites -v if (argc>5) sscanf(*(argp+2),"%d",&vstp); if (argc>5) sscanf(*(argp+3),"%d",&xmin); if (argc>5) sscanf(*(argp+4),"%d",&xmax); } else if ( (!strcmp(*argv,"-com")) ) { sscanf(*argp,"%d",&c); } else if ( (!strcmp(*argv,"-f_clk")) ) { sscanf(*argp,"%f",&f_clk); } } } else { usage(); exit(1); } fprintf(stderr,"\ntmc428demo : ( Compiled : %s / %s )\n",__DATE__,__TIME__); // 2nd open the PC's RS232 interface COM: with 19200 baud with 1N8 -------- com = c; ComHandle = open_rs232( com, baud, &error_code ); GLOBAL_ComHandle = ComHandle; // :-( global parameter, simplifies the usage of the RS232 routines if (error_code==-1){fprintf(stderr,"\nERROR : COM%d: could not be opend.\n\n",com); exit(-1);} else if (!error_code) ;// fprintf(stderr,"\nCOM%d: open successfull (1N8, %d baud).\n\n",com,baud); tmc428spi4win_id_string_request( ComHandle ); // detect the TMC428 evaluation board (sends a string back) // 3rd control the TMC428 at the TMC428 EvalKit with your own software ----- write_tmc428_configuration_ram(tmc428_ram_tab); // write the TCM428 configuration RAM read_tmc428_configuration_ram(tmc428_ram_tab); // read back RAM table dump_tmc428_ram_tab(tmc428_ram_tab); // dump RAM table (void) tmc428spi( 0x7E010701 ); // initialize stepper motor global parameter register // with LSMD=1 for TMC428 evaluation kit pulse_div = 3; // set step pulse pre-divider ramp_div = 6; // set acceleration pre-divider // a choise where pulse_div == ramp_div should be prefered usrs = 4; // set highest 16 times micro step resolution sm = s; // select stepper motor (SMDA) tmc428_set_pdrdus( sm, pulse_div, ramp_div, usrs ); // set pulse_div, ramp_div, usrs for stepper SMDA tmc428_set_i_scales_a_threshold(sm, 0, 0, 1, 1); // set automatic down scaling of current at rest v_min = 1; v_max = v; a_max = a; x_target = x; /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */ tmc428_get_pdrdus( sm, &pulse_div, &ramp_div, &usrs ); // get required parameters CalcPMulPDiv(a_max, ramp_div, pulse_div, &pmul, &pdiv, &PIdeal, &PBest); // calculate pmul & pdiv tmc428_set_pmulpdiv( sm, pmul, pdiv ); // set pmul & pdiv tmc428_set_refconf_rm( sm, 0x3, RAMP_MODE ); // ref_conf = disaple stop SW, // select RAMP_MODE fs_per_s = r_fs_hz(f_clk, v_max, pulse_div, usrs ); fprintf(stdout, "\n" " sm = %8d\n" "\n" " v_min = %8d\n" " v_max = %8d (= %6.3f [FS/s] @ %6.3f MHz)\n\n" " a_max = %8d\n\n" " pulse_div = %8d\n" " ramp_div = %8d\n\n" " usrs = %8d\n\n" " p_mul = %8d\n" " p_div = %8d\n\n" " x_target = %8d\n\n", sm, v_min, v_max, fs_per_s, f_clk/1000000.0, a_max, pulse_div, ramp_div, usrs, pmul, pdiv, x_target ); // now 1st run in position mode (RAMP_MODE) ... tmc428_set_vmin( sm, v_min ); // vmin = 1 tmc428_set_vmax( sm, v_max ); // set desired velocity limit tmc428_set_amax( sm, a_max ); // set a_max (p_mul, p_div, usrs) tmc428_set_xtarget( sm, x_target ); // now do the positioning // now run the StallGuard demo if the StallGuard Level 'sgl' is set lower then 9 if (sgl<9) tmc428_stallguard_demo( sm, v_max, sgl ); // now run the StallGuard profiler if the command line option -sgp is set ... if (sgp==1) tmc428_stallguard_profiler( sm, vmin, v_max, vstp, xmin, xmax ); // ************************************************************************ // *** IMPORTANT HINT : TMC428 parameters are initialized by the TMC428 *** // *** evaluation board Firmware after power-on reset, *** // *** but this code does its own initialization *** // ************************************************************************ // 3rd close RS232 interface and terminate the program --------------------- close_rs232( ComHandle ); } /* *************************************************************************** */