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Implement Controlled Pulses via PIO

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This commit is contained in:
AlexanderHD27
2024-09-25 16:39:05 +02:00
parent 49d52ca0ed
commit 9640a5b747
3 changed files with 77 additions and 6 deletions
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45
motor-control/firmware/src/main.cpp
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@@ -13,6 +13,8 @@
#include "pico/stdio.h"
#include "hardware/uart.h"
#include "pulser.pio.h"
#define LED_PIN 25
#define ENABLE0_PIN 2
@@ -32,9 +34,9 @@ int main() {
gpio_set_dir(ENABLE1_PIN, GPIO_OUT);
gpio_put(ENABLE1_PIN, 0);
gpio_init(STEP0_PIN);
gpio_set_dir(STEP0_PIN, GPIO_OUT);
gpio_put(STEP0_PIN, 0);
//gpio_init(STEP0_PIN);
//gpio_set_dir(STEP0_PIN, GPIO_OUT);
//gpio_put(STEP0_PIN, 0);
gpio_init(STEP1_PIN);
gpio_set_dir(STEP1_PIN, GPIO_OUT);
@@ -48,6 +50,43 @@ int main() {
gpio_set_dir(DIR1_PIN, GPIO_OUT);
gpio_put(DIR1_PIN, 0);
PIO pio_core = pio0;
int SM_DIV0 = 0;
int SM_COUNT0 = 2;
uint pulser_offset = pio_add_program(pio_core, &pulser_program);
pio_sm_config c_div0 = pulser_program_get_default_config(pulser_offset);
pio_sm_config c_count0 = pulser_program_get_default_config(pulser_offset);
pio_gpio_init(pio_core, STEP0_PIN);
pio_gpio_init(pio_core, STEP1_PIN);
pio_sm_set_consecutive_pindirs(pio_core, SM_COUNT0, STEP0_PIN, 1, true);
sm_config_set_set_pins(&c_count0, STEP0_PIN, 1);
pio_sm_init(pio_core, SM_DIV0, pulser_offset, &c_div0);
pio_sm_init(pio_core, SM_COUNT0, pulser_offset + 6, &c_count0);
const double target_freq_khz = 500;
const double clock_div = ((double)(SYS_CLK_KHZ))/((double)(target_freq_khz));
pio_sm_set_clkdiv(pio_core, SM_DIV0, clock_div);
pio_sm_set_clkdiv(pio_core, SM_COUNT0, 1.0);
pio_sm_set_enabled(pio_core, SM_DIV0, true);
pio_sm_set_enabled(pio_core, SM_COUNT0, true);
pio_sm_put_blocking(pio_core, SM_DIV0, 0);
pio_sm_put_blocking(pio_core, SM_COUNT0, 0);
// freq = base / 6 + n cyles
// n = (base/freq) - 6
const double double_div_freq_khz = 0.5;
const uint32_t cycles = (target_freq_khz/double_div_freq_khz) - 6;
pio_sm_put_blocking(pio_core, SM_DIV0, cycles);
TMC2209_UART uart_driver0 = TMC2209_UART(uart0, 0, 19200, 0, 1);
TMC2209_UART uart_driver1 = TMC2209_UART(uart1, 0, 19200, 4, 5);
uart_driver0.init();