Stepper motor control w/ TMC2209

platformio.ini

@@ -21,8 +21,9 @@ build_src_filter = +<*> -<./angular/>
 board_build.filesystem = littlefs
 check_tool = cppcheck, clangtidy
 build_flags = 
-	-D OLED_ENABLED=false
+	-D OLED_ENABLED=true
 	-D PWM_MOTOR_CONTROL=false
+	-D STEPPER_MOTOR_CONTROL=true
 	-D HOME_ASSISTANT_ENABLED=false
 check_flags = 
 	clangtidy: -fix-errors,--format-style=google
@@ -36,3 +37,4 @@ lib_deps =
 	adafruit/Adafruit SSD1306@^2.5.9
 	electromagus/ESPMX1508@^1.0.5
 	dawidchyrzynski/home-assistant-integration@^2.1.0
+	janelia-arduino/TMC2209@^9.4.2

src/platformio/osww-server/src/main.cpp

@@ -94,11 +94,19 @@ AsyncWebServer server(80);
 HTTPClient http;
 WiFiClient client;
 ESP32Time rtc;
-String winderooVersion = "3.0.0";
+String winderooVersion = "3.1.0";
 
-#if PWM_MOTOR_CONTROL
+#if PWM_MOTOR_CONTROL && STEPPER_MOTOR_CONTROL
+	#error "You can only have one optional motor control method enabled at a time. You must disable either PWM_MOTOR_CONTROL or STEPPER_MOTOR_CONTROL in the platformio.ini file."
+#endif
+
+// PWM control
+#if PWM_MOTOR_CONTROL && !STEPPER_MOTOR_CONTROL
 	MotorControl motor(directionalPinA, directionalPinB, true);
-#else
+#endif
+
+// Stepper motor control || Regular DC motor control
+#if STEPPER_MOTOR_CONTROL && !PWM_MOTOR_CONTROL || !STEPPER_MOTOR_CONTROL && !WM_MOTOR_CONTROL
 	MotorControl motor(directionalPinA, directionalPinB);
 #endif
 
@@ -1184,6 +1192,11 @@ void setup()
 		display.invertDisplay(OLED_INVERT_SCREEN);
 		display.setRotation(rotate);
 		drawNotification("Winderoo");
+
+
+		String savedNetworkMessage[2] = {"Winderoo build", "v" + winderooVersion};
+		drawMultiLineText(savedNetworkMessage);
+		delay(1200);
 	}
 
 	String savedNetworkMessage[2] = {"Connecting to", "saved network..."};
@@ -1302,6 +1315,7 @@ void setup()
 
 		drawNotification("Starting webserver...");
 		startWebserver();
+		delay(750); // delay to show notification
 
 		if (strcmp(userDefinedSettings.status.c_str(), "Winding") == 0)
 		{

src/platformio/osww-server/src/utils/MotorControl.cpp

@@ -7,19 +7,57 @@
     int motorSpeed = 145;
 #endif
 
+#if STEPPER_MOTOR_CONTROL
+    #include <TMC2209.h>
+
+    HardwareSerial & serial_stream = Serial2;
+
+    const uint8_t STEP_PIN = 17;
+    const uint8_t DIRECTION_PIN = 16;
+
+    const int32_t RUN_VELOCITY = 20000;
+    const int32_t STOP_VELOCITY = 0;
+    const uint16_t HALF_STEP_DURATION_MICROSECONDS = 10;
+
+    // current values may need to be reduced to prevent overheating depending on
+    // specific motor and power supply voltage
+    const uint8_t RUN_CURRENT_PERCENT = 100;
+
+    // Instantiate TMC2209
+    TMC2209 stepper_driver;
+
+#endif
+
 MotorControl::MotorControl(int pinA, int pinB, bool pwmMotorControl)
 {
-    _pinA = pinA;
-    _pinB = pinB;
-    _motorDirection = 0;
-    _pwmMotorControl = pwmMotorControl;
+    #if STEPPER_MOTOR_CONTROL
+
+        stepper_driver.setup(serial_stream);
+
+        pinMode(STEP_PIN, OUTPUT);
+        pinMode(DIRECTION_PIN, OUTPUT);
+
+        stepper_driver.setRunCurrent(RUN_CURRENT_PERCENT);
+        stepper_driver.enableCoolStep();
+        stepper_driver.enable();
+
+        _motorDirection = 0;
+    #else
+        _pinA = pinA;
+        _pinB = pinB;
+        _motorDirection = 0;
+        _pwmMotorControl = pwmMotorControl;
+    #endif
 }
 
 void MotorControl::clockwise()
 {
     #if PWM_MOTOR_CONTROL
         MX1508 pwmControl(_pinA, _pinB, CH1, CH2);
         pwmControl.motorGo(motorSpeed);
+    #elif STEPPER_MOTOR_CONTROL
+        // stepper_driver.moveAtVelocity(RUN_VELOCITY);
+        stepper_driver.moveUsingStepDirInterface();
     #else
         digitalWrite(_pinA, HIGH);
         digitalWrite(_pinB, LOW);
@@ -32,6 +70,9 @@ void MotorControl::countClockwise()
     #if PWM_MOTOR_CONTROL
         MX1508 pwmControl(_pinA, _pinB, CH1, CH2);
         pwmControl.motorRev(motorSpeed);
+    #elif STEPPER_MOTOR_CONTROL
+        // stepper_driver.moveAtVelocity(RUN_VELOCITY);
+        stepper_driver.moveUsingStepDirInterface();
     #else
         digitalWrite(_pinA, LOW);
         digitalWrite(_pinB, HIGH);
@@ -44,6 +85,9 @@ void MotorControl::stop()
     #if PWM_MOTOR_CONTROL
         MX1508 pwmControl(_pinA, _pinB, CH1, CH2);
         pwmControl.motorBrake();
+    #elif STEPPER_MOTOR_CONTROL
+        stepper_driver.moveAtVelocity(STOP_VELOCITY);
+        stepper_driver.moveUsingStepDirInterface();
     #else
         digitalWrite(_pinA, LOW);
         digitalWrite(_pinB, LOW);
@@ -53,16 +97,21 @@ void MotorControl::stop()
 
 void MotorControl::determineMotorDirectionAndBegin()
 {
-    // @todo - investigate if this is still needed
-    // stop();
-
     if (_motorDirection)
     {
-        clockwise();
+        #if STEPPER_MOTOR_CONTROL
+            stepper_driver.disableInverseMotorDirection();
+        #else
+            clockwise();
+        #endif
     }
     else
     {
-        countClockwise();
+        #if STEPPER_MOTOR_CONTROL
+            stepper_driver.enableInverseMotorDirection();
+        #else
+            countClockwise();
+        #endif
     }
 }