Ryan Malloy
c07284a7d6
PlatformIO firmware for ESP32 + 2x TMC2209 (UART, StallGuard sensorless homing) driving NEMA 17 steppers. HTTP API with mDNS discovery (positioner.local). Python side: async httpx client, PositionerMixin with 6 MCP tools including measure_pattern_3d which orchestrates the full theta/phi sweep — serpentine scan path, per-point S21 capture, progress reporting, WebSocket broadcast. Web UI gains positioner REST endpoints (status, move, home). New measure_antenna_range prompt for guided workflow.
50 lines
2.6 KiB
C
50 lines
2.6 KiB
C
#pragma once
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// ── WiFi credentials (set via build flags or edit here) ──────────
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#ifndef WIFI_SSID
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#define WIFI_SSID "YOUR_SSID"
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#endif
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#ifndef WIFI_PASS
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#define WIFI_PASS "YOUR_PASS"
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#endif
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// ── Pin assignments ──────────────────────────────────────────────
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#define THETA_STEP_PIN 25
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#define THETA_DIR_PIN 26
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#define THETA_EN_PIN 27
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#define PHI_STEP_PIN 32
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#define PHI_DIR_PIN 33
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#define PHI_EN_PIN 14
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// ── TMC2209 UART ─────────────────────────────────────────────────
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#define TMC_RX_PIN 16
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#define TMC_TX_PIN 17
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#define THETA_TMC_ADDR 0
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#define PHI_TMC_ADDR 1
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#define TMC_R_SENSE 0.11f // sense resistor value (ohms)
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#define TMC_RMS_CURRENT 800 // motor current in mA
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// ── Motor constants ──────────────────────────────────────────────
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#define STEPS_PER_REV 200
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#define DEFAULT_MICROSTEPS 16 // 0.1125 deg per microstep
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// Steps per degree = STEPS_PER_REV * MICROSTEPS / 360.0
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// At 16 microsteps: 200 * 16 / 360 = 8.888...
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// ── Motion defaults ──────────────────────────────────────────────
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#define DEFAULT_MAX_SPEED 2000.0f // steps/sec (~225 deg/sec)
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#define DEFAULT_ACCEL 1000.0f // steps/sec^2 (~112 deg/sec^2)
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#define SETTLE_MS 200 // ms after move before measurement
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// ── Homing ───────────────────────────────────────────────────────
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#define HOME_SPEED 500.0f // steps/sec (slower for stall detect)
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#define STALL_THRESHOLD 50 // TMC2209 StallGuard threshold (tune per setup)
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#define HOME_BACKOFF_STEPS 100 // steps to back off after stall detection
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// ── Safety ───────────────────────────────────────────────────────
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#define IDLE_DISABLE_MS 30000 // disable motors after 30s idle
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#define WATCHDOG_TIMEOUT_S 60 // WDT reset if no command while moving
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// ── mDNS ─────────────────────────────────────────────────────────
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#define MDNS_HOSTNAME "positioner"
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