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Alexandre Gut
2026-03-31 13:10:37 +02:00
commit 03325b9502
566 changed files with 351758 additions and 0 deletions
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36
Motor_encod/Tmc_uart.c Normal file
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// TMC_UART.c
#include "TMC_uart.h"
#define DEFAULT_UART_ID uart1
#define DEFAULT_BAUD_RATE 115200
#define DEFAULT_MOTOR_TX_PIN 4
#define DEFAULT_MOTOR_RX_PIN 5
TMC_UART* tmc_Uart_Init(TMC_UART* tmc_uart, uart_inst_t *UART_ID, int BAUD_RATE, int MOTOR_TX_PIN, int MOTOR_RX_PIN) {
if (BAUD_RATE == -1) BAUD_RATE = DEFAULT_BAUD_RATE;
if (MOTOR_TX_PIN == -1) MOTOR_TX_PIN = DEFAULT_MOTOR_TX_PIN;
if (MOTOR_RX_PIN == -1) MOTOR_RX_PIN = DEFAULT_MOTOR_RX_PIN;
uart_init(UART_ID, BAUD_RATE);
gpio_set_function(MOTOR_TX_PIN, GPIO_FUNC_UART);
gpio_set_function(MOTOR_RX_PIN, GPIO_FUNC_UART);
uart_set_hw_flow(UART_ID, false, false);
uart_set_format(UART_ID, 8, 1, UART_PARITY_NONE);
uart_set_fifo_enabled(UART_ID, false);
tmc_uart->UART_ID = UART_ID;
tmc_uart->BAUD_RATE = BAUD_RATE;
tmc_uart->MOTOR_TX_PIN = MOTOR_TX_PIN;
tmc_uart->MOTOR_RX_PIN = MOTOR_RX_PIN;
return tmc_uart;
}
void TMC_UART_Write(TMC_UART* tmc_uart, int data) {
uart_putc(tmc_uart->UART_ID, data);
}
void TMC_UART_Destroy(TMC_UART* tmc_uart) {
// Aucune opération nécessaire
}