Unknow/beyon-motion
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Initial commit

Browse Source
This commit is contained in:
Alexandre Gut
2026-03-31 13:10:37 +02:00
commit 03325b9502
566 changed files with 351758 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

224
TMC2209/main.c Normal file
View File

@@ -0,0 +1,224 @@
#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/uart.h"
#include "hardware/irq.h" // Inclure le fichier d'en-tête pour les interruptions
#include "Tmc_uart.h"
#include "Tmc2209.h"
#include "hardware/gpio.h"
#include "unistd.h"
TMC_UART uart_instance;
TMC2209 Tmc2209;
void test_movement(){
const uint LED_PIN = 7;
gpio_init(LED_PIN);
gpio_set_dir(LED_PIN, GPIO_OUT);
gpio_put(LED_PIN, 0);
sleep_ms(1000);
int max = 1600;
for (int i = 100; i <= max; i += 100) {
set_vactual(&Tmc2209,i*256);
sleep_us(1);
int stg = get_stallguard(&Tmc2209);
int tstep = get_tstep(&Tmc2209);
printf("Stg : %d , %d \n",stg,tstep);
}
uint32_t start_time = time_us_32();
uint32_t current_time = start_time;
while (current_time - start_time < 1000000000) { // 10 secondes en microsecondes
int stg = get_stallguard(&Tmc2209);
int tstep = get_tstep(&Tmc2209);
printf("Stg : %d , %d \n",stg,tstep);
current_time = time_us_32();
}
for (int i = max; i >= 100; i -= 100) {
set_vactual(&Tmc2209,i*256);
sleep_us(1);
int stg = get_stallguard(&Tmc2209);
int tstep = get_tstep(&Tmc2209);
printf("Stg : %d , %d \n",stg,tstep);
}
set_vactual(&Tmc2209,0);
// sleep_ms(10000);
gpio_put(LED_PIN, 1);
}
void setup(){
clear_general_stat(&Tmc2209);
// sleep_ms(2000);
set_voltage_sense(&Tmc2209, false);
// sleep_ms(2000);
set_current_flow(&Tmc2209, 100, 0.5, 10, 5.4);
// sleep_ms(2000);
set_iscale_analog(&Tmc2209, false);
// sleep_ms(2000);
set_interpolation(&Tmc2209, true);
// sleep_ms(2000);
set_internal_resistor_sense(&Tmc2209, false);
// sleep_ms(2000);
set_spread_cycle(&Tmc2209, true);
// sleep_ms(2000);
set_microstepping_resolution(&Tmc2209,256);
// sleep_ms(2000);
set_microstep_resolution_regselect(&Tmc2209, true);
int32_t resolution = get_microstepping_resolution(&Tmc2209);
printf("Microstepping resolution begin : %ld\n", resolution);
}
void test_direction(){
int direction = get_direction_shart(&Tmc2209);
printf("Direction 1 : %d\n", direction);
sleep_ms(1000);
set_direction_shart(&Tmc2209,false);
sleep_ms(1000);
direction = get_direction_shart(&Tmc2209);
printf("Direction 2 (false): %d\n", direction);
sleep_ms(1000);
set_direction_shart(&Tmc2209,true);
sleep_ms(1000);
direction = get_direction_shart(&Tmc2209);
printf("Direction 3 (true): %d\n", direction);
}
void test_ustep(){
int32_t resolution = get_microstepping_resolution(&Tmc2209);
printf("Microstepping resolution begin : %ld\n", resolution);
sleep_ms(1000);
set_microstepping_resolution(&Tmc2209,256);
sleep_ms(1000);
resolution = get_microstepping_resolution(&Tmc2209);
printf("Microstepping resolution after new go to 1/256: %ld\n", resolution);
sleep_ms(1000);
set_microstepping_resolution(&Tmc2209,16);
sleep_ms(10);
resolution = get_microstepping_resolution(&Tmc2209);
printf("Microstepping resolution after renew go to 1/16: %ld\n", resolution);
printf(get_microstepping_resolution(&Tmc2209));
}
void test_iscale(){
int iscale = get_iscale_analog(&Tmc2209);
printf("Iscale 1 : %d\n", iscale);
sleep_ms(1000);
set_iscale_analog(&Tmc2209,false);
sleep_ms(1000);
iscale = get_iscale_analog(&Tmc2209);
printf("Iscale 2 (false): %d\n", iscale);
sleep_ms(1000);
set_iscale_analog(&Tmc2209,true);
sleep_ms(1000);
iscale = get_iscale_analog(&Tmc2209);
printf("Iscale 3 (true): %d\n", iscale);
}
void test_interpolation(){
int interpolation = get_interpolation(&Tmc2209);
printf("Interpolation 1 : %d\n", interpolation);
sleep_ms(1000);
set_interpolation(&Tmc2209,false);
sleep_ms(1000);
interpolation = get_interpolation(&Tmc2209);
printf("Interpolation 2 (false): %d\n", interpolation);
sleep_ms(1000);
set_interpolation(&Tmc2209,true);
sleep_ms(1000);
interpolation = get_interpolation(&Tmc2209);
printf("Interpolation 3 (true): %d\n", interpolation);
}
void test_internal_resistor_sense(){
int resistor = get_internal_resistor_sense(&Tmc2209);
printf("Internal_resistor_sense 1 : %d\n", resistor);
sleep_ms(1000);
set_internal_resistor_sense(&Tmc2209,false);
sleep_ms(1000);
resistor = get_internal_resistor_sense(&Tmc2209);
printf("Internal_resistor_sense 2 (false): %d\n", resistor);
sleep_ms(1000);
set_internal_resistor_sense(&Tmc2209,true);
sleep_ms(1000);
resistor = get_internal_resistor_sense(&Tmc2209);
printf("Internal_resistor_sense 3 (true): %d\n", resistor);
}
void test_spread_cycle(){
int spread_cycle = get_spread_cycle(&Tmc2209);
printf("Spread_cycle 1 : %d\n", spread_cycle);
sleep_ms(1000);
set_internal_resistor_sense(&Tmc2209,false);
sleep_ms(1000);
spread_cycle = get_spread_cycle(&Tmc2209);
printf("Spread_cycle 2 (false): %d\n", spread_cycle);
sleep_ms(1000);
set_internal_resistor_sense(&Tmc2209,true);
sleep_ms(1000);
spread_cycle = get_spread_cycle(&Tmc2209);
printf("Spread_cycle 3 (true): %d\n", spread_cycle);
}
int main() {
stdio_init_all();
// Initialisation de l'UART avec les paramètres par défaut
tmc_Uart_Init(&uart_instance, uart1, -1, -1, -1);
TMC2209_Init(&Tmc2209,&uart_instance);
sleep_ms(4000);
// clear_general_stat(&uart_instance);
printf("UART initialisé avec succès\n");
// driver_status(&Tmc2209);
// general_config(&Tmc2209);
// general_stat(&Tmc2209);
setup();
// test_iscale();
// test_interpolation();
// test_internal_resistor_sense();
// test_spread_cycle();
// test_direction();
// test_ustep();
test_movement();
return 0;
}