1 /*
2 * SPDX-FileCopyrightText: Copyright (c) 2025 Jilay Sandeep Pandya.
3 * SPDX-License-Identifier: Apache-2.0
4 */
5
6 #include <zephyr/device.h>
7 #include <zephyr/drivers/gpio.h>
8 #include <zephyr/drivers/stepper.h>
9 #include <zephyr/kernel.h>
10 #include <zephyr/drivers/stepper/stepper_trinamic.h>
11
12 #include <zephyr/logging/log.h>
13 LOG_MODULE_REGISTER(stepper_tmc50xx, CONFIG_STEPPER_LOG_LEVEL);
14
15 static const struct device *stepper = DEVICE_DT_GET(DT_ALIAS(stepper));
16 static const struct device *stepper_drv = DEVICE_DT_GET(DT_ALIAS(stepper_drv));
17
18 int32_t ping_pong_target_position = CONFIG_STEPS_PER_REV * CONFIG_PING_PONG_N_REV *
19 DT_PROP(DT_ALIAS(stepper_drv), micro_step_res);
20
21 K_SEM_DEFINE(steps_completed_sem, 0, 1);
22
stepper_callback(const struct device * dev,const enum stepper_event event,void * user_data)23 void stepper_callback(const struct device *dev, const enum stepper_event event, void *user_data)
24 {
25 ARG_UNUSED(user_data);
26 switch (event) {
27 case STEPPER_EVENT_STEPS_COMPLETED:
28 k_sem_give(&steps_completed_sem);
29 break;
30 default:
31 break;
32 }
33 }
34
main(void)35 int main(void)
36 {
37 LOG_INF("Starting tmc50xx stepper sample");
38 if (!device_is_ready(stepper)) {
39 LOG_ERR("Device %s is not ready", stepper->name);
40 return -ENODEV;
41 }
42 LOG_DBG("stepper is %p, name is %s", stepper, stepper->name);
43
44 stepper_set_event_callback(stepper, stepper_callback, NULL);
45 stepper_drv_enable(stepper);
46
47 enum stepper_drv_micro_step_resolution micro_step_res;
48
49 stepper_drv_get_micro_step_res(stepper_drv, µ_step_res);
50 LOG_DBG("Microstep resolution is %d", micro_step_res);
51
52 stepper_set_reference_position(stepper, 0);
53 stepper_move_by(stepper, ping_pong_target_position);
54
55 /* Change Max Velocity during runtime */
56 int32_t tmc_velocity;
57
58 tmc_velocity = DT_PROP(DT_ALIAS(stepper), vmax) * CONFIG_MAX_VELOCITY_MULTIPLIER;
59 (void)tmc50xx_stepper_set_max_velocity(stepper, tmc_velocity);
60
61 for (;;) {
62 if (k_sem_take(&steps_completed_sem, K_FOREVER) == 0) {
63 ping_pong_target_position *= -1;
64 stepper_move_by(stepper, ping_pong_target_position);
65
66 int32_t actual_position;
67 int ret;
68
69 ret = stepper_get_actual_position(stepper, &actual_position);
70 if (ret == 0) {
71 LOG_INF("Actual position: %d", actual_position);
72 } else {
73 LOG_ERR("Failed to get actual position");
74 }
75 }
76 }
77 return 0;
78 }
79
