FireWatchTower_2axis/firmware

FireWatchTower — 2-Axis Gimbal Controller

Firmware for a 2-axis motorised gimbal (yaw + pitch) running on an Arduino-compatible AVR microcontroller. Built around the TMC5160 stepper driver chip, with encoder feedback, automatic homing, thermal management, and a serial command interface.

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Hardware

Component	Details
MCU	ATmega32U4 (Arduino Leonardo-compatible)
Motor driver	TMC5160 × 2 (one per axis)
Communication	SPI @ 4 MHz, Mode 3
Temperature sensor	DHT11
Fan control	PWM output + tachometer input

Pin assignments

Pin	Function
8	TMC5160 CS — Yaw
7	TMC5160 EN — Yaw
1	TMC5160 CS — Pitch
0	TMC5160 EN — Pitch
9	DHT11 data
10	Fan PWM output
11	Fan tachometer input

Axis parameters

Parameter	Yaw	Pitch
Steps per revolution	177,000	500,000
Gear ratio	739.56	739.56
Default speed (VMAX)	50,000	250,000
Global current scaler	80	50

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Project structure

src/
├── main.cpp
├── config/
│   ├── Constants.h       — tuning values, thresholds, timing
│   └── Pins.h            — pin assignments
├── motor/
│   ├── MotorConfig.h     — axis IDs, EEPROM layout, gimbal_status enum
│   ├── MotorAxis.h/.cpp  — per-axis state and TMC5160 register interface
│   ├── MotorDriver.h/.cpp— SPI init, register config, enable/disable
│   └── Homing.h/.cpp     — homing state machines (non-blocking)
├── serial/
│   └── CommandParser.h/.cpp — serial command protocol
├── thermal/
│   └── ThermalManager.h/.cpp — DHT11 reading and fan PWM control
└── hal/
    └── SPI_HAL.cpp       — TMC-API SPI callbacks (chip select per axis)

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Building

This project uses PlatformIO.

Build:

pio run

Build and upload:

pio run --target upload

Clean:

pio run --target clean

Serial monitor:

pio device monitor --baud 115200

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Axis lifecycle

Each axis progresses through the following states after power-on:

BOOT → RESET → ENC_INIT → INITIALIZED → AUTO / MANUAL
                                ↓
                             ERROR  (homing failed)

• BOOT — initial state, hardware not yet configured
• RESET — registers written, motor enabled, ready to home
• ENC_INIT — homing sequence in progress
• INITIALIZED — endstop limits known, axis ready for operation
• AUTO — stepping through positions automatically
• MANUAL — responding to direct move commands
• ERROR — homing failed; send r to reset and try again

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Homing

Each axis must be homed before normal operation. Send q over serial to start.

Yaw uses stallGuard (encoder deviation detection) as a virtual endstop — the motor drives into a mechanical stop, the TMC5160 detects the current spike, and the position is recorded. No physical switches required.

Pitch uses physical hardware endstop switches. The TMC5160 latches the position (XLATCH) the instant a switch triggers, giving an accurate limit reading.

Once both limits are found, the axis validates the measured travel range and moves to the centre position.

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Serial command protocol

Connect at 115200 baud. Commands are single characters sent over the serial port.

Format: <cmd>[y|p][d]<arg1>,<arg2>

• Axis specifier (optional): y = yaw only, p = pitch only, omit = both
• Base specifier (optional): d after axis = decimal arguments (default is hex)

Command reference

Command	Description	Arguments
r	Reset: re-init registers and enable coils	—
q	Start homing sequence	—
!	Disable motor coils (free-wheel)	—
*	Enable motor coils (holding torque)	—
m	Move to absolute position	<position>, <speed>
;	Overwrite XACTUAL register directly	<value>
s	Stop (decelerate to zero)	—
b	Clear encoder deviation warning flag	—
t	Sync encoder to actual position	—
e	Clear stallGuard event flag (both axes)	—
w	Set stallGuard threshold	<sgt>
u	Enter AUTO stepping mode	<num_steps> (must be > 2)
h	Save heading calibration to EEPROM	0, <heading_value>
y	Load heading calibration from EEPROM	0
d	Enter MANUAL mode	—
p	Advance yaw one step (AUTO mode)	—
v	Set yaw speed	<vmax>
+	Set yaw right limit to current position	—
-	Set yaw left limit to current position	—
/	Set both yaw limits manually	<right>, <left>
?	Print current yaw endstop positions	—

Examples

q           — home both axes
qy          — home yaw only
md 500000,35000  — move both axes to position 500000 at speed 35000 (decimal)
my 1F400,8888    — move yaw to 0x1F400 at speed 0x8888 (hex, default)
!p          — disable pitch motor
w 60        — set stallGuard threshold to 60 on both axes

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Serial status output

Every 250 ms the firmware prints a status line for each axis:

Yaw:

YAW: <X_enc>, <X_act>, <X_err>, <dev_warn>, <sg_event>, <sg_status>, <sg_stop>

Pitch:

PITCH: <X_enc>, <X_act>, <X_err>, <dev_warn>, <sg_event>, <sg_status>, <sg_stop>, <endstop_l>, <endstop_r>

Field	Description
X_enc	Encoder position (external encoder)
X_act	Step counter position (internal)
X_err	Tracking error (X_act − X_enc)
dev_warn	Encoder deviation warning flag
sg_event	StallGuard event flag
sg_status	StallGuard status bit
sg_stop	StallGuard stop flag
endstop_l	Left endstop state (pitch only)
endstop_r	Right endstop state (pitch only)

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Thermal management

The DHT11 sensor is read every 250 ms. The fan PWM output is controlled proportionally:

• Below 25 °C: fan off
• Above 25 °C: PWM = (temperature − 25) × 20, capped at 255

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Dependencies

Managed automatically by PlatformIO:

• TMC-API — Trinamic vendor library for TMC5160 register access
• DHT sensor library — Adafruit DHT11/22 driver
• Adafruit Unified Sensor
• SPI — Arduino built-in
• EEPROM — Arduino built-in