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 +37,5 @@ lib_deps =
 	adafruit/Adafruit SSD1306@^2.5.9
 	electromagus/ESPMX1508@^1.0.5
 	dawidchyrzynski/home-assistant-integration@^2.1.0
+	teemuatlut/TMCStepper@^0.7.3
+	plerup/EspSoftwareSerial@^8.2.0

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
 
@@ -389,6 +397,17 @@ unsigned long calculateWindingTime()
  */
 void beginWindingRoutine()
 {
+
+
+	if (userDefinedSettings.direction == "CW" )
+	{
+		motor.setMotorDirection(1);
+	}
+	else if (userDefinedSettings.direction == "CCW")
+	{
+		motor.setMotorDirection(0);
+	}
+
 	startTimeEpoch = rtc.getEpoch();
 	previousEpoch = startTimeEpoch;
 	routineRunning = true;
@@ -1184,6 +1203,11 @@ 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 +1326,7 @@ 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

@@ -1,25 +1,133 @@
 #include "MotorControl.h"
 
+// Define the static instance variable
+MotorControl* MotorControl::instance = nullptr;
+
 #if PWM_MOTOR_CONTROL
 	#include <ESP32MX1508.h>
 	#define CH1 1
 	#define CH2 2
     int motorSpeed = 145;
 #endif
 
+#ifdef STEPPER_MOTOR_CONTROL
+    #include <TMCStepper.h>
+    #include <SoftwareSerial.h>
+
+    const uint16_t EN_PIN   = 4; // Enable
+    const uint16_t DIR_PIN  = 16; // Direction
+    const uint16_t STEP_PIN = 17; // Step
+
+    const signed long RUN_VELOCITY = 20000;
+    const signed long STOP_VELOCITY = 0;
+
+    #define SW_RX            3 // TMC2208/TMC2224 SoftwareSerial receive pin
+    #define SW_TX            1 // TMC2208/TMC2224 SoftwareSerial transmit pin
+    #define SERIAL_PORT Serial1 // TMC2208/TMC2224 HardwareSerial port
+    #define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2
+
+    const uint16_t R_SENSE = 0.11f; // TMC2209  - SilentStepStick series use 0.11
+
+    SoftwareSerial softwareSerial(SW_RX, SW_TX); // Create SoftwareSerial object
+    TMC2208Stepper driver = TMC2208Stepper(&softwareSerial, R_SENSE); // Use SoftwareSerial object
+
+    // For non-blocking stepper movement
+    hw_timer_t *timer = NULL;
+    volatile bool stepPinState = LOW;
+    static bool timerConfigured = false;
+
+    // For stepper timing control (RPM)
+    uint16_t microSteps = 4;
+    uint16_t rmsCurrent = 600;
+    uint64_t timerMicroSecondInterval = 400; // 937 microseconds for 40 RPM / 400 microseconds for 100 RPM
+
+#endif
+
 MotorControl::MotorControl(int pinA, int pinB, bool pwmMotorControl)
 {
-    _pinA = pinA;
-    _pinB = pinB;
-    _motorDirection = 0;
-    _pwmMotorControl = pwmMotorControl;
+    #ifdef STEPPER_MOTOR_CONTROL
+        instance = this;
+        stepperSetup();
+
+        _motorDirection = 0;
+    #else
+        _pinA = pinA;
+        _pinB = pinB;
+        _motorDirection = 0;
+        _pwmMotorControl = pwmMotorControl;
+    #endif
+}
+
+void MotorControl::stepperSetup() {
+
+    softwareSerial.begin(9600);
+
+    pinMode(EN_PIN, OUTPUT);
+    pinMode(STEP_PIN, OUTPUT);
+    pinMode(DIR_PIN, OUTPUT);
+    digitalWrite(EN_PIN, LOW);
+
+    driver.begin();
+    driver.toff(5); // Enables driver in software
+    driver.rms_current(rmsCurrent); // Set motor RMS current in mA
+    driver.microsteps(microSteps); // Set microsteps to 1/8th because reasons
+    driver.stealth(); // Enable stealthChop
+}
+
+// This private function is used to toggle the step pin by the timer
+void IRAM_ATTR MotorControl::onTimer()
+{
+    digitalWrite(STEP_PIN, stepPinState);
+    stepPinState = !stepPinState;
+}
+
+void IRAM_ATTR MotorControl::onTimerStatic()
+{
+    instance->onTimer();
+}
+
+void killTimer()
+{
+    Serial.println("[INFO] - Killing timer");
+
+    timerAlarmDisable(timer);  // Disable the timer to stop
+    timerDetachInterrupt(timer); // Detach the interrupt
+    timerEnd(timer); // End the timer
+
+    stepPinState = LOW;
+    digitalWrite(STEP_PIN, stepPinState);
+
+    timer = NULL;
+    timerConfigured = false;
+}
+
+void MotorControl::configureHardwareTimer()
+{
+    if (!timerConfigured)
+    {
+        timer = timerBegin(0, 80, true);              // Timer 0, prescaler 80 (1 MHz clock)
+        timerAttachInterrupt(timer, &onTimerStatic, true);  // Attach onTimer function to timer
+        timerAlarmWrite(timer, timerMicroSecondInterval, true); // Set timer interval 937 microseconds for 40 RPM
+        timerAlarmEnable(timer);                      // Enable the timer
+        timerConfigured = true;
+    }
+
 }
 
 void MotorControl::clockwise()
 {
     #if PWM_MOTOR_CONTROL
         MX1508 pwmControl(_pinA, _pinB, CH1, CH2);
         pwmControl.motorGo(motorSpeed);
+    #elif STEPPER_MOTOR_CONTROL
+        // Set the direction pin
+        if (timerConfigured) timerAlarmDisable(timer);
+
+        digitalWrite(DIR_PIN, HIGH);
+        delay(10);
+
+        if (timerConfigured) timerAlarmEnable(timer);
+        // Non-blocking step handling is now through the timer function; "configureHardwareTimer()"
     #else
         digitalWrite(_pinA, HIGH);
         digitalWrite(_pinB, LOW);
@@ -32,6 +140,15 @@ void MotorControl::countClockwise()
     #if PWM_MOTOR_CONTROL
         MX1508 pwmControl(_pinA, _pinB, CH1, CH2);
         pwmControl.motorRev(motorSpeed);
+    #elif STEPPER_MOTOR_CONTROL
+        // Set the direction pin
+       if (timerConfigured) timerAlarmDisable(timer);
+
+        digitalWrite(DIR_PIN, LOW);
+        delay(10);
+
+       if (timerConfigured) timerAlarmEnable(timer);
+        // Non-blocking step handling is now through the timer function; "configureHardwareTimer()"
     #else
         digitalWrite(_pinA, LOW);
         digitalWrite(_pinB, HIGH);
@@ -44,6 +161,11 @@ void MotorControl::stop()
     #if PWM_MOTOR_CONTROL
         MX1508 pwmControl(_pinA, _pinB, CH1, CH2);
         pwmControl.motorBrake();
+    #elif STEPPER_MOTOR_CONTROL
+        if (timerConfigured)
+        {
+            killTimer();
+        }
     #else
         digitalWrite(_pinA, LOW);
         digitalWrite(_pinB, LOW);
@@ -53,16 +175,27 @@ void MotorControl::stop()
 
 void MotorControl::determineMotorDirectionAndBegin()
 {
-    // @todo - investigate if this is still needed
-    // stop();
-
     if (_motorDirection)
     {
-        clockwise();
+        #if STEPPER_MOTOR_CONTROL
+            clockwise(); // We call this for logging purposes
+            if (!timerConfigured) {
+                configureHardwareTimer();
+            }
+        #else
+            clockwise();
+        #endif
     }
     else
     {
-        countClockwise();
+        #if STEPPER_MOTOR_CONTROL
+            countClockwise();  // We call this for logging purposes
+            if (!timerConfigured) {
+                configureHardwareTimer();
+            }
+        #else
+            countClockwise();
+        #endif
     }
 }
 
@@ -74,4 +207,7 @@ int MotorControl::getMotorDirection()
 void MotorControl::setMotorDirection(int direction)
 {
     _motorDirection = direction;
+
+    Serial.print("[INFO] - MOTOR CONTROLLER - Setting direction to: ");
+    Serial.println(_motorDirection ? "CW" : "CCW");
 }

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

@@ -12,6 +12,16 @@ class MotorControl
     int _motorDirection;
     bool _pwmMotorControl;
 
+    void stepperSetup();
+
+    static void IRAM_ATTR onTimerStatic(); // Add this line
+
+    void onTimer();
+
+    void configureHardwareTimer();
+
+    static MotorControl* instance; // Add this line
+
 public:
     MotorControl(int _pinA, int _pinB, bool pwmMotorControl = false);