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 const struct device *stepper = DEVICE_DT_GET(DT_ALIAS(stepper));
16
17 int32_t ping_pong_target_position = CONFIG_STEPS_PER_REV * CONFIG_PING_PONG_N_REV *
18 DT_PROP(DT_ALIAS(stepper), micro_step_res);
19
20 K_SEM_DEFINE(steps_completed_sem, 0, 1);
21
stepper_callback(const struct device * dev,const enum stepper_event event,void * user_data)22 void stepper_callback(const struct device *dev, const enum stepper_event event, void *user_data)
23 {
24 switch (event) {
25 case STEPPER_EVENT_STEPS_COMPLETED:
26 k_sem_give(&steps_completed_sem);
27 break;
28 default:
29 break;
30 }
31 }
32
main(void)33 int main(void)
34 {
35 LOG_INF("Starting tmc50xx stepper sample");
36 if (!device_is_ready(stepper)) {
37 LOG_ERR("Device %s is not ready", stepper->name);
38 return -ENODEV;
39 }
40 LOG_DBG("stepper is %p, name is %s", stepper, stepper->name);
41
42 stepper_set_event_callback(stepper, stepper_callback, NULL);
43 stepper_enable(stepper);
44 stepper_set_reference_position(stepper, 0);
45 stepper_move_by(stepper, ping_pong_target_position);
46
47 /* Change Max Velocity during runtime */
48 int32_t tmc_velocity = DT_PROP(DT_ALIAS(stepper), vmax) * CONFIG_MAX_VELOCITY_MULTIPLIER;
49 (void)tmc50xx_stepper_set_max_velocity(stepper, tmc_velocity);
50
51 for (;;) {
52 if (k_sem_take(&steps_completed_sem, K_FOREVER) == 0) {
53 ping_pong_target_position *= -1;
54 stepper_move_by(stepper, ping_pong_target_position);
55 }
56 }
57 return 0;
58 }
59