Add TMC2100 driver support

.agent/workflows/build_and_test.md

@@ -9,14 +9,12 @@ description: Build the project and run tests to ensure code integrity
    // turbo
    platformio run
 
-2. Build using Arduino CLI (covers AVR)
+3. Build using Arduino CLI (covers AVR)
    // turbo
    make all TARGET=arduino:avr:uno
 
-3. Run PlatformIO Unit Tests
+4. Run examples (covers all examples)
    // turbo
-   platformio test
-
-4. Run examples (covers one example)
-   // turbo
-   platformio ci --lib src --keep-build-dir --board esp32dev examples/BasicStepperDriver
+   for sketch in examples/*; do
+     platformio ci --lib src --keep-build-dir --board esp32dev ${sketch}
+   done

README.md

@@ -18,6 +18,7 @@ Hardware currently supported:
    - <a href="https://www.pololu.com/product/1182">A4988</a> Stepper Motor Driver up to 1:16
    - <a href="https://www.pololu.com/product/2131">DRV8825</a> up to 1:32
    - <a href="https://www.pololu.com/product/2971">DRV8880</a> up to 1:16, with current/torque control
+   - <a href="https://www.trinamic.com/products/integrated-circuits/details/tmc2100/">TMC2100</a> up to 1:16 native (1:256 interpolated)
    - any other 2-pin stepper via DIR and STEP pins, microstepping up to 1:128 externally set
 
 Microstepping
@@ -60,6 +61,9 @@ This is suggested wiring for running the examples unmodified. All the pins below
     - DRV8834/DRV8880 microstep control
       - M0 - D10
       - M1 - D11
+    - TMC2100 microstep control
+      - CFG1 - D10
+      - CFG2 - D11
     - ~SLEEP (optional) D13
 
 - driver board to motor (this varies from motor to motor, check motor coils schematic).

examples/TMC2100/TMC2100.ino

@@ -0,0 +1,57 @@
+/*
+ * TMC2100 Stepper Driver Verification
+ * 
+ * This example uses the TMC2100 driver.
+ */
+#include <Arduino.h>
+#include "TMC2100.h"
+
+// Motor steps per revolution. Most steppers are 200 steps or 1.8 degrees/step
+#define MOTOR_STEPS 200
+#define RPM 120
+
+// Microstepping mode. If you hardwired it to save pins, set to the same value here.
+#define MICROSTEPS 16
+
+#define DIR 8
+#define STEP 9
+#define SLEEP 13 // optional (just delete SLEEP from constructor if not used)
+#define CFG1 10
+#define CFG2 11
+
+/*
+ * Choose one of the sections below that match your hookup
+ */
+
+// Basic connection: only DIR, STEP are connected.
+// TMC2100 stepper(MOTOR_STEPS, DIR, STEP);
+
+// Fully wired: DIR, STEP, SLEEP/ENABLE, CFG1, CFG2
+TMC2100 stepper(MOTOR_STEPS, DIR, STEP, SLEEP, CFG1, CFG2);
+
+void setup() {
+    stepper.begin(RPM, MICROSTEPS);
+    // if using enable/disable on ENABLE pin (active LOW) instead of SLEEP uncomment next line
+    // stepper.setEnableActiveState(LOW);
+}
+
+void loop() {
+    // energize coils - the motor will hold position
+    // stepper.enable();
+
+    /*
+     * Moving motor one full revolution using the block command
+     */
+    stepper.rotate(360);
+    stepper.rotate(-360);
+
+    delay(1000);
+
+    /*
+     * Moving motor to specific microstep levels
+     */
+    stepper.setMicrostep(1);
+    stepper.rotate(360);
+    stepper.setMicrostep(16);
+    stepper.rotate(360);
+}

keywords.txt

@@ -8,6 +8,7 @@ DRV8825	KEYWORD1
 A4988	KEYWORD1
 MultiDriver	KEYWORD1
 SyncDriver	KEYWORD1
+TMC2100	KEYWORD1
 
 setMicrostep	KEYWORD2
 setSpeedProfile	KEYWORD2

library.json

@@ -1,7 +1,7 @@
 {
   "name": "StepperDriver",
   "version": "1.4.2",
-  "description": "Control steppers via a driver board providing STEP+DIR like the ones from Pololu. Microstepping is supported. Acceleration is supported. Supported drivers are A4988, DRV8824, DRV8825, DRV8834, DRV8880.",
+  "description": "Control steppers via a driver board providing STEP+DIR like the ones from Pololu. Microstepping is supported. Acceleration is supported. Supported drivers are A4988, DRV8824, DRV8825, DRV8834, DRV8880, TMC2100.",
   "repository": {
     "type": "git",
     "url": "https://github.com/laurb9/StepperDriver"
@@ -12,7 +12,8 @@
     "A4988",
     "DRV8824",
     "DRV8825",
-    "DRV8880"
+    "DRV8880",
+    "TMC2100"
   ],
   "authors": [
     {

library.properties

@@ -2,8 +2,8 @@ name=StepperDriver
 version=1.4.2
 author=Laurentiu Badea
 maintainer=Laurentiu Badea
-sentence=A4988, DRV8825 and generic two-pin stepper motor driver library.
-paragraph=Control steppers via a driver board providing STEP+DIR like the ones from Pololu. Microstepping is supported. Acceleration is supported. Supported drivers are A4988, DRV8824, DRV8825, DRV8834, DRV8880.
+sentence=A4988, DRV8825, TMC2100 and generic two-pin stepper motor driver library.
+paragraph=Control steppers via a driver board providing STEP+DIR like the ones from Pololu. Microstepping is supported. Acceleration is supported. Supported drivers are A4988, DRV8824, DRV8825, DRV8834, DRV8880, TMC2100.
 category=Device Control
 url=https://github.com/laurb9/StepperDriver
 architectures=*

src/A4988.h

@@ -45,7 +45,7 @@ class A4988 : public BasicStepperDriver {
     A4988(short steps, short dir_pin, short step_pin);
     A4988(short steps, short dir_pin, short step_pin, short enable_pin);
 
-    void begin(float rpm=60, short microsteps=1);
+    void begin(float rpm=60, short microsteps=1) override;
     /*
      * Fully wired. All the necessary control pins for A4988 are connected.
      */

src/BasicStepperDriver.h

@@ -115,7 +115,7 @@ class BasicStepperDriver {
     /*
      * Initialize pins, calculate timings etc
      */
-    void begin(float rpm=60, short microsteps=1);
+    virtual void begin(float rpm=60, short microsteps=1);
     /*
      * Set current microstep level, 1=full speed, 32=fine microstepping
      * Returns new level or previous level if value out of range

src/DRV8880.h

@@ -50,7 +50,7 @@ class DRV8880 : public BasicStepperDriver {
     DRV8880(short steps, short dir_pin, short step_pin, short m0, short m1, short trq0, short trq1);
     DRV8880(short steps, short dir_pin, short step_pin, short enable_pin, short m0, short m1, short trq0, short trq1);
 
-    void begin(float rpm=60, short microsteps=1);
+    void begin(float rpm=60, short microsteps=1) override;
 
     short setMicrostep(short microsteps) override;
 

src/TMC2100.cpp

@@ -0,0 +1,102 @@
+/*
+ * TMC2100 - SilentStepStick Stepper Motor Driver
+ *
+ * This file may be redistributed under the terms of the MIT license.
+ * A copy of this license has been included with this distribution in the file LICENSE.
+ */
+#include "TMC2100.h"
+
+/*
+ * Basic connection: only DIR, STEP are connected.
+ * Microstepping controls should be hardwired.
+ */
+TMC2100::TMC2100(short steps, short dir_pin, short step_pin)
+:BasicStepperDriver(steps, dir_pin, step_pin)
+{}
+
+TMC2100::TMC2100(short steps, short dir_pin, short step_pin, short enable_pin)
+:BasicStepperDriver(steps, dir_pin, step_pin, enable_pin)
+{}
+
+/*
+ * Fully wired.
+ * All the necessary control pins for TMC2100 are connected.
+ */
+TMC2100::TMC2100(short steps, short dir_pin, short step_pin, short cf1_pin, short cf2_pin)
+:BasicStepperDriver(steps, dir_pin, step_pin),
+    cf1_pin(cf1_pin), cf2_pin(cf2_pin)
+{}
+
+TMC2100::TMC2100(short steps, short dir_pin, short step_pin, short enable_pin, short cf1_pin, short cf2_pin)
+:BasicStepperDriver(steps, dir_pin, step_pin, enable_pin),
+cf1_pin(cf1_pin), cf2_pin(cf2_pin)
+{}
+
+void TMC2100::begin(float rpm, short microsteps){
+    BasicStepperDriver::begin(rpm, microsteps);
+
+    if (!IS_CONNECTED(cf1_pin) || !IS_CONNECTED(cf2_pin)){
+        return;
+    }
+
+    pinMode(cf1_pin, OUTPUT);
+    pinMode(cf2_pin, OUTPUT);
+}
+
+/*
+ * Set microstepping mode (1:divisor)
+ * Allowed ranges for TMC2100 are 1:1 to 1:16
+ * If the control pins are not connected, we recalculate the timing only
+ */
+short TMC2100::setMicrostep(short microsteps){
+    BasicStepperDriver::setMicrostep(microsteps);
+
+    if (!IS_CONNECTED(cf1_pin) || !IS_CONNECTED(cf2_pin)){
+        return this->microsteps;
+    }
+
+    // CFG1 CFG2 Microsteps Mode
+    // GND  GND  1          SpreadCycle
+    // VIO  GND  2          SpreadCycle
+    // OPEN GND  2          SpreadCycle
+    // GND  VIO  4          SpreadCycle
+    // VIO  VIO  16         SpreadCycle
+    // OPEN VIO  4          SpreadCycle
+    // GND  OPEN 8          SpreadCycle
+    // VIO  OPEN 16         StealthChop
+    // OPEN OPEN 16         StealthChop
+
+    switch(this->microsteps){
+        case 1:
+            // GND, GND
+            pinMode(cf1_pin, OUTPUT); digitalWrite(cf1_pin, LOW);
+            pinMode(cf2_pin, OUTPUT); digitalWrite(cf2_pin, LOW);
+            break;
+        case 2:
+            // VIO, GND
+            pinMode(cf1_pin, OUTPUT); digitalWrite(cf1_pin, HIGH);
+            pinMode(cf2_pin, OUTPUT); digitalWrite(cf2_pin, LOW);
+            break;
+        case 4:
+            // GND, VIO
+            pinMode(cf1_pin, OUTPUT); digitalWrite(cf1_pin, LOW);
+            pinMode(cf2_pin, OUTPUT); digitalWrite(cf2_pin, HIGH);
+            break;
+        case 8:
+            // GND, OPEN
+            pinMode(cf1_pin, OUTPUT); digitalWrite(cf1_pin, LOW);
+            pinMode(cf2_pin, INPUT);
+            break;
+        case 16:
+            // VIO, OPEN (StealthChop)
+            pinMode(cf1_pin, OUTPUT); digitalWrite(cf1_pin, HIGH);
+            pinMode(cf2_pin, INPUT);
+            break;
+    }
+
+    return this->microsteps;
+}
+
+short TMC2100::getMaxMicrostep(){
+    return TMC2100::MAX_MICROSTEP;
+}

src/TMC2100.h

@@ -0,0 +1,48 @@
+/*
+ * TMC2100 - SilentStepStick Stepper Motor Driver
+ *
+ * This file may be redistributed under the terms of the MIT license.
+ * A copy of this license has been included with this distribution in the file LICENSE.
+ */
+#ifndef TMC2100_H
+#define TMC2100_H
+#include <Arduino.h>
+#include "BasicStepperDriver.h"
+
+class TMC2100 : public BasicStepperDriver {
+protected:
+    short cf1_pin = PIN_UNCONNECTED;
+    short cf2_pin = PIN_UNCONNECTED;
+    // tA STEP minimum, HIGH pulse width (1us)
+    static const int step_high_min = 1;
+    // tB STEP minimum, LOW pulse width (1us)
+    static const int step_low_min = 1;
+    // wakeup time, nSLEEP inactive to STEP (1000us)
+    static const int wakeup_time = 1000;
+
+    // Get max microsteps supported by the device
+    short getMaxMicrostep() override;
+
+private:
+    // microstep range (1, 2, 4, 8, 16)
+    // maximum level controllable by CFG pins is 1/16, TMC2100 can interpolate to 1/256 internally
+    static const short MAX_MICROSTEP = 16;
+
+public:
+    /*
+     * Basic connection: only DIR, STEP are connected.
+     * Microstepping controls should be hardwired.
+     */
+    TMC2100(short steps, short dir_pin, short step_pin);
+    TMC2100(short steps, short dir_pin, short step_pin, short enable_pin);
+
+    void begin(float rpm=60, short microsteps=1) override;
+    /*
+     * Fully wired. All the necessary control pins for TMC2100 are connected.
+     * The CFG pins are used to set microstepping.
+     */
+    TMC2100(short steps, short dir_pin, short step_pin, short cf1_pin, short cf2_pin);
+    TMC2100(short steps, short dir_pin, short step_pin, short enable_pin, short cf1_pin, short cf2_pin);
+    short setMicrostep(short microsteps) override;
+};
+#endif // TMC2100_H