From 9be415302d74445f1ed71913a8e011139a8e2216 Mon Sep 17 00:00:00 2001
From: mwood77 <43637076+mwood77@users.noreply.github.com>
Date: Tue, 15 Oct 2024 12:30:56 +0200
Subject: [PATCH] basic stepper motor control w/ TMC2209

---
 platformio.ini                                |  4 +-
 src/platformio/osww-server/src/main.cpp       | 20 +++++--
 .../osww-server/src/utils/MotorControl.cpp    | 53 +++++++++++++++++--
 3 files changed, 68 insertions(+), 9 deletions(-)

diff --git a/platformio.ini b/platformio.ini
index 9772eeb..d3e4f94 100644
--- a/platformio.ini
+++ b/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
diff --git a/src/platformio/osww-server/src/main.cpp b/src/platformio/osww-server/src/main.cpp
index 528577a..8946eb0 100644
--- a/src/platformio/osww-server/src/main.cpp
+++ b/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)
 		{
diff --git a/src/platformio/osww-server/src/utils/MotorControl.cpp b/src/platformio/osww-server/src/utils/MotorControl.cpp
index 896f503..4765ee7 100644
--- a/src/platformio/osww-server/src/utils/MotorControl.cpp
+++ b/src/platformio/osww-server/src/utils/MotorControl.cpp
@@ -7,12 +7,44 @@
     int motorSpeed = 145;
 #endif
 
+#if STEPPER_MOTOR_CONTROL
+    #include <TMC2209.h>
+    
+    // Instantiate TMC2209
+    TMC2209 stepper_driver;
+    HardwareSerial & serial_stream = Serial1;
+
+    const int RX_PIN = 5;
+    const int TX_PIN = 26;
+    const uint8_t HARDWARE_ENABLE_PIN = 4;
+
+    const long SERIAL_BAUD_RATE = 115200;
+    const int32_t RUN_VELOCITY = 20000;
+    const int32_t STOP_VELOCITY = 0;
+
+
+    // 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;
+
+#endif
+
 MotorControl::MotorControl(int pinA, int pinB, bool pwmMotorControl)
 {
+    #if STEPPER_MOTOR_CONTROL
+        stepper_driver.setup(serial_stream, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_0, RX_PIN, TX_PIN);
+        stepper_driver.setHardwareEnablePin(HARDWARE_ENABLE_PIN);
+        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()
@@ -20,6 +52,8 @@ 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);
     #else
         digitalWrite(_pinA, HIGH);
         digitalWrite(_pinB, LOW);
@@ -32,6 +66,8 @@ 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);
     #else
         digitalWrite(_pinA, LOW);
         digitalWrite(_pinB, HIGH);
@@ -44,6 +80,8 @@ void MotorControl::stop()
     #if PWM_MOTOR_CONTROL
         MX1508 pwmControl(_pinA, _pinB, CH1, CH2);
         pwmControl.motorBrake();
+    #elif STEPPER_MOTOR_CONTROL
+        stepper_driver.moveAtVelocity(STOP_VELOCITY);
     #else
         digitalWrite(_pinA, LOW);
         digitalWrite(_pinB, LOW);
@@ -53,16 +91,21 @@ 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
     }
 }