TMC50XX stepper

Browse source code on GitHub

Description

This sample application periodically spins the stepper clockwise and counterclockwise depending on the 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.

# From the root of the zephyr repository
west build -b nucleo_g071rb samples/drivers/stepper/tmc50xx
west flash

Sample Output

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>

See also

Stepper Driver Interface