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deadprogram
62 lines
1.9 KiB
Go
62 lines
1.9 KiB
Go
// Connects to SPI1 on a RP2040 (Pico)
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package main
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import (
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"machine"
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"tinygo.org/x/drivers/tmc5160"
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)
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func main() {
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// Step 1. Setup your protocol. SPI setup shown below
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spi := machine.SPI1
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spi.Configure(machine.SPIConfig{
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Frequency: 12000000, // Upto 12 MHZ is pretty stable. Reduce to 5 or 6 Mhz if you are experiencing issues
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Mode: 3,
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LSBFirst: false,
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})
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// Step 2. Set up all associated Pins
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csPin0 := machine.GPIO13
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csPin0.Configure(machine.PinConfig{Mode: machine.PinOutput})
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enn0 := machine.GPIO18
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enn0.Configure(machine.PinConfig{Mode: machine.PinOutput})
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// csPins is a map of all chip select pins in a multi driver setup.
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//Only one pin csPin0 mapped to "0"is shown in this example, but add more mappings as required
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csPins := map[uint8]machine.Pin{0: csPin0}
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//bind csPin to driverAdddress
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driverAddress := uint8(0) // Let's assume we are working with driver at address 0x01
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// Step 3. Bind the communication interface to the protocol
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comm := tmc5160.NewSPIComm(spi, csPins)
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// Step 4. Define your stepper like this below
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//stepper := tmc5160.NewStepper(angle , gearRatio vSupply rCoil , lCoil , iPeak , rSense , mSteps, fclk )
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stepper := tmc5160.NewDefaultStepper() // Default Stepper should be used only for testing.
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// Step 5. Instantiate your driver
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driver := tmc5160.NewDriver(
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comm,
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driverAddress,
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enn0,
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stepper)
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// Setting and getting mode
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rampMode := tmc5160.NewRAMPMODE(comm, driverAddress)
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err := rampMode.SetMode(tmc5160.PositioningMode)
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if err != nil {
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return
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}
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mode, err := rampMode.GetMode()
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if err != nil {
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println("Error getting mode:", err)
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} else {
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println("Current Mode:", mode)
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}
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// Read GCONF register
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GCONF := tmc5160.NewGCONF()
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gconfVal, err := driver.ReadRegister(tmc5160.GCONF)
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// Uppack the register to get all the bits and bytes of the register
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GCONF.Unpack(gconfVal)
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//E.g. MultiStepFlit is retrieved from the GCONF register
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println("GCONF:MultiStepFlit:", GCONF.MultistepFilt)
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}
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