Software Progress¶

UPDATES

This page will be actively updated as software is developed.

For the basic functionality of the project, the following functional code components are planned:

Responsible for interfacing with the motor driver chip and its movement.

TMC2209 UART driver control library
- ✅ Interface with TMC2209 registers, read and write via UART
- Library optimization for peripheral operations without MCU overhead
- Hardware CRC computation support for faster operation
- Direct peripheral interfacing
- Buffer for 4 commands for efficient parameter updates
Periodic calculation of the function [delta steps / dt] from t based on given parameters:
- Target displacement
- Specified or maximum speed
- Specified or maximum acceleration
- Specified or maximum jerk
Different motion patterns algorithms
- Triangle motion ramp
- Trapezoidal motion ramp
- S-Shaped motion ramp
- Constant speed motion

TLE5012 SPI encoder library
- Interfacing with registers via SPI
- Detection of successful initialization and configuration
Absolute coordinates controller
- Periodic absolute position updates at a specified frequency
- Setting, offsetting, or resetting the coordinate system's zero
Stepper motor position controller
- Calculation and adjustment of motor position during its movement
Position error detector
- Comparing the difference between the motor's physical and theoretical positions
- Error occurrence action handler

Handles system error compensation algorithms.

Simple position error notification to the higher-level controller in the hierarchy
Rollback and execution of the last error-causing command
Active PID compensation (?)

Responsible for converting abstract commands into a standard format for the Motion Control algorithm.

Ensures safe system operation and error detection.