Arduino MEGA 2560 - "Hello World"

[rudibr]

First, thanks for making this library available!!! Second, appologies if this is a dumb post, but I am totally new to steppermotors.

I have taken the "TMC5160_SPI.ino" example, to try and control a stepper motor through a TMC5160T controller. The TMC5160T is connected to the Arduino as specified below. Most of the connections seems to be unneded, since the "TMC5160_SPI.ino" example only uses two pins, SPI_CS and SPI_DRV_ENN.

I have three questions:

1. Does SPI_CS in the "TMC5160_SPI.ino" example corrospond to the CFG3/CS pin on TMC5160T?
2. Does SPI_DRV_ENN in the "TMC5160_SPI.ino" example corrospond to the EN pin on TMC5160T?
3. What are all the other pins for?

PS: I have not yet connected the motor to the controller and tried the program below. I'm affraid to fry the controller and/or the motor :-O

`// Include TMC5160 library. https://github.com/tommag/TMC5160_Arduino #include <TMC5160.h>

// Simple "Hello World" program, to communicate with stepper motor through TMC5160 controller from an Arduino MEGA 2560 // Based on the "TMC5160_Arduino/examples/TMC5160_SPI/TMC5160_SPI.ino" example

// NEMA 17 2 x Nema 17 Bipolar 59Ncm(83.55oz.in) 2A 42x48mm 4 Wires w/ 1m Cable & Connector, Model 17HS19-2004S1 // https://www.omc-stepperonline.com/de/nema-17-bipolar-59ncm-84oz-in-2a-42x48mm-4draehte-w-1m-kabel-verbinder-17hs19-2004s1

// // TMC5160 --> Aduino pin connections // VM --> 12V (red) // GND --> GND (black) // VIO --> 5V (red) // GND --> GND // A1 --> to A+ on NEMA17 stepper // A2 --> to A- on NEMA17 stepper // B1 --> to B+ on NEMA17 stepper // B2 --> to B- on NEMA17 stepper // EN --> D23 (white) // CFG1/MOSI --> D25 (orange) // CFG2/SCK --> D27 (blue) // CFG3/CS --> D29 (green) // CFG0/MISO --> D31 (brown) // CLK --> D33 (gray) // STP --> D35 (purple) // DIR --> D37 (yellow)

const uint8_t SPI_CS = 29; // CS pin in SPI mode const uint8_t SPI_DRV_ENN = 23; // DRV_ENN pin in SPI mode

TMC5160_SPI motor = TMC5160_SPI(SPI_CS); //Use default SPI peripheral and SPI settings.

void setup() { // USB/debug serial coms Serial.begin(9600);

pinMode(SPI_DRV_ENN, OUTPUT); digitalWrite(SPI_DRV_ENN, LOW); // Active low

// This sets the motor & driver parameters /!\ run the configWizard for your driver and motor for fine tuning ! TMC5160::PowerStageParameters powerStageParams; // defaults. TMC5160::MotorParameters motorParams; motorParams.globalScaler = 98; // Adapt to your driver and motor (check TMC5160 datasheet - "Selecting sense resistors") motorParams.irun = 31; motorParams.ihold = 16;

SPI.begin(); motor.begin(powerStageParams, motorParams, TMC5160::NORMAL_MOTOR_DIRECTION);

// ramp definition motor.setRampMode(TMC5160::POSITIONING_MODE); motor.setMaxSpeed(400); motor.setAcceleration(500);

Serial.println("starting up");

delay(1000); // Standstill for automatic tuning }

void loop() { uint32_t now = millis(); static unsigned long t_dirchange, t_echo; static bool dir;

// every n seconds or so... if ( now - t_dirchange > 3000 ) { t_dirchange = now;

// reverse direction
dir = !dir;
motor.setTargetPosition(dir ? 200 : 0);  // 1 full rotation = 200s/rev

}

// print out current position if( now - t_echo > 100 ) { t_echo = now;

// get the current target position
float xactual = motor.getCurrentPosition();
float vactual = motor.getCurrentSpeed();
Serial.print("current position : ");
Serial.print(xactual);
Serial.print("\tcurrent speed : ");
Serial.println(vactual);

} }`