149 lines
4.1 KiB
C
149 lines
4.1 KiB
C
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#include <stdio.h>
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#include "pico/stdlib.h"
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#include "pico/time.h"
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#include "hardware/uart.h"
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#include "hardware/irq.h" // Inclure le fichier d'en-tête pour les interruptions
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#include "hardware/gpio.h"
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#include "hardware/i2c.h"
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#include "Tmc_uart.h"
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#include "Tmc2209.h"
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#include "AS5600L.h"
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#include "unistd.h"
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#define I2C_PORT i2c0
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#define I2C_SDA_PIN 8
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#define I2C_SCL_PIN 9
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int main() {
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stdio_init_all();
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TMC_UART uart_instance;
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TMC2209 Tmc2209;
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AS5600L as5600l;
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// Initialisation de l'UART avec les paramètres par défaut
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tmc_Uart_Init(&uart_instance, uart1, -1, -1, -1);
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TMC2209_Init(&Tmc2209,&uart_instance);
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as560x_init(&as5600l,I2C_PORT,100000,I2C_SDA_PIN,I2C_SCL_PIN);
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int abs = 0;
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abs = update_pos;
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sleep_ms(4000);
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// driver_status(&uart_instance);
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// general_config(&uart_instance);
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// clear_general_stat(&uart_instance);
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printf("UART initialisé avec succès\n");
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int32_t resolution = get_microstepping_resolution(&Tmc2209);
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printf("Microstepping resolution begin : %ld\n", resolution);
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sleep_ms(10);
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set_microstepping_resolution(&Tmc2209,256);
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sleep_ms(10);
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resolution = get_microstepping_resolution(&Tmc2209);
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printf("Microstepping resolution after new go to 1/256: %ld\n", resolution);
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sleep_ms(10);
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// set_microstepping_resolution(&Tmc2209,16);
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// sleep_ms(10);
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// resolution = get_microstepping_resolution(&Tmc2209);
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// printf("Microstepping resolution after renew go to 1/16: %ld\n", resolution);
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// printf(get_microstepping_resolution(&Tmc2209));
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// clear_general_stat(&Tmc2209);
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// sleep_ms(2000);
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// set_voltage_sense(&Tmc2209, false);
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// sleep_ms(2000);
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// set_current_flow(&Tmc2209, 1800, 0.5, 10, 5.4);
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// sleep_ms(2000);
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// set_iscale_analog(&Tmc2209, false);
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// sleep_ms(2000);
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// set_interpolation(&Tmc2209, true);
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// sleep_ms(2000);
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// set_internal_resistor_sense(&Tmc2209, false);
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// sleep_ms(2000);
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// set_spread_cycle(&Tmc2209, true);
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// sleep_ms(2000);
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// set_microstepping_resolution(&Tmc2209,256);
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// sleep_ms(2000);
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// set_microstep_resolution_regselect(&Tmc2209, true);
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// int32_t resolution = get_microstepping_resolution(&Tmc2209);
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// printf("Microstepping resolution begin : %ld\n", resolution);
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const uint LED_PIN = 7;
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gpio_init(LED_PIN);
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gpio_set_dir(LED_PIN, GPIO_OUT);
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gpio_put(LED_PIN, 0);
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sleep_ms(1000);
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int max = 1600;
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for (int i = 100; i <= max; i += 100) {
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set_vactual(&Tmc2209,i*256);
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abs = update_pos(&as5600l);
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printf("Position absolue : %d\n",abs);
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}
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uint32_t start_time = time_us_32();
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uint32_t current_time = start_time;
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while (current_time - start_time < 10000000) { // 10 secondes en microsecondes
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abs = update_pos(&as5600l);
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printf("Position absolue : %d\n", abs);
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// Mise à jour du temps actuel
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current_time = time_us_32();
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}
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for (int i = max; i >= 100; i -= 100) {
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set_vactual(&Tmc2209,i*256);
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abs = update_pos(&as5600l);
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printf("Position absolue : %d\n",abs);
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}
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set_vactual(&Tmc2209,0);
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sleep_ms(10000);
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gpio_put(LED_PIN, 1);
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// int32_t resolution;
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// general_config(&Tmc2209);
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// while (true) {
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// }
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// for (int i = 1000; i <= 200000; i += 10) {
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// set_vactual(&Tmc2209, i);
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// sleep_ms(2);
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// }
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// for (int i = 20000; i >= 10000; i -= 10) {
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// set_vactual(&Tmc2209, i);
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// sleep_ms(2);
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// }
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// sleep_ms(1000);
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// printf("end\n");
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// // read_reg(&Tmc2209,0x6C);
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// printf(driver_status(&Tmc2209));
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// sleep_ms(1000);
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// // char data[] = "Hello, UART!\n";
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// // for (int i = 0; data[i] != '\0'; ++i) {
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// // TMC_UART_Write(&Tmc2209, data[i]);
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// // }
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// }
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return 0;
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}
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