Implement Controlled Pulses via PIO

2024-09-25 16:39:05 +02:00
parent 49d52ca0ed
commit 9640a5b747
3 changed files with 77 additions and 6 deletions
--- a/motor-control/firmware/src/tmc2209/pulser.pio
+++ b/motor-control/firmware/src/tmc2209/pulser.pio
@@ -0,0 +1,30 @@
+
+.program pulser
+clock_div:
+    PULL NOBLOCK
+    MOV X, OSR
+    MOV Y, X
+l0:
+    JMP Y-- l0
+
+    IRQ CLEAR 0 REL
+    ; SM 0 + 0 -> IRQ 0 
+    ; SM 1 + 0 -> IRQ 1
+
+    JMP clock_div
+
+counter:
+    ; SM 2 + 2 -> IRQ 0
+    ; SM 3 + 2 -> IRQ 1
+    PULL
+    MOV X, OSR
+    IRQ WAIT 2 REL
+l1:
+    IRQ WAIT 2 REL  [1]
+    SET PINS, 1
+    IRQ WAIT 2 REL
+    SET PINS, 0
+    JMP X-- l1
+
+    JMP counter
+