| .. zephyr:code-sample:: tmc50xx |
| :name: TMC50XX stepper |
| :relevant-api: stepper_interface |
| |
| Rotate a TMC50XX stepper motor and change velocity at runtime. |
| |
| Description |
| *********** |
| |
| This sample application periodically spins the stepper clockwise and counterclockwise depending on |
| the :kconfig:option:`CONFIG_PING_PONG_N_REV` configuration. |
| |
| References |
| ********** |
| |
| - TMC5041: https://www.analog.com/media/en/technical-documentation/data-sheets/TMC5041_datasheet_rev1.16.pdf |
| - TMC5072: https://www.analog.com/media/en/technical-documentation/data-sheets/TMC5072_datasheet_rev1.26.pdf |
| |
| Wiring |
| ******* |
| |
| This sample uses the TMC5072 BOB controlled using the SPI interface. The board's Devicetree must define |
| a ``stepper`` alias for the stepper motor node. |
| |
| Building and Running |
| ******************** |
| |
| This project spins the stepper and outputs the events to the console. It requires an TMC50XX stepper |
| driver. It should work with any platform featuring a SPI peripheral interface. |
| It does not work on QEMU. |
| |
| .. zephyr-app-commands:: |
| :zephyr-app: samples/drivers/stepper/tmc50xx |
| :board: nucleo_g071rb |
| :goals: build flash |
| |
| Sample Output |
| ============= |
| |
| .. code-block:: console |
| |
| Starting tmc50xx stepper sample |
| stepper is 0x8007240, name is tmc_stepper@0 |
| stepper_callback steps completed changing direction |
| stepper_callback steps completed changing direction |
| stepper_callback steps completed changing direction |
| |
| <repeats endlessly> |
