Add test code for UnoR4

Author: peterpolidoro

examples/BidirectionalCommunication/TestUnoR4/TestUnoR4.ino

@@ -0,0 +1,45 @@
+#include <TMC2209.h>
+
+// This example will not work on Arduino boards without HardwareSerial ports,
+// such as the Uno, Nano, and Mini.
+//
+// See this reference for more details:
+// https://www.arduino.cc/reference/en/language/functions/communication/serial/
+
+UART & serial_stream = Serial1;
+
+const long SERIAL_BAUD_RATE = 115200;
+const int DELAY = 3000;
+
+// Instantiate TMC2209
+TMC2209 stepper_driver;
+
+
+void setup()
+{
+  Serial.begin(SERIAL_BAUD_RATE);
+
+  stepper_driver.setup(serial_stream);
+}
+
+void loop()
+{
+  if (stepper_driver.isSetupAndCommunicating())
+  {
+    Serial.println("Stepper driver is setup and communicating!");
+    Serial.println("Try turning driver power off to see what happens.");
+  }
+  else if (stepper_driver.isCommunicatingButNotSetup())
+  {
+    Serial.println("Stepper driver is communicating but not setup!");
+    Serial.println("Running setup again...");
+    stepper_driver.setup(serial_stream);
+  }
+  else
+  {
+    Serial.println("Stepper driver is not communicating!");
+    Serial.println("Try turning driver power on to see what happens.");
+  }
+  Serial.println();
+  delay(DELAY);
+}

platformio.ini

@@ -1,8 +1,9 @@
 [platformio]
-src_dir = examples/UnidirectionalCommunication/MoveAtVelocity
-#src_dir = examples/UnidirectionalCommunication/SoftwareSerial
-#src_dir = examples/BidirectionalCommunication/TestRP2040
-#src_dir = examples/UnidirectionalCommunication/TestRP2040
+;src_dir = examples/UnidirectionalCommunication/MoveAtVelocity
+;src_dir = examples/UnidirectionalCommunication/SoftwareSerial
+;src_dir = examples/BidirectionalCommunication/TestRP2040
+;src_dir = examples/UnidirectionalCommunication/TestRP2040
+;src_dir = examples/BidirectionalCommunication/TestUnoR4
 
 lib_dir = src
 default_envs = teensy40
@@ -51,6 +52,14 @@ lib_deps =
     SoftwareSerial
     ${env.lib_deps}
 
+[env:uno_r4_minima]
+platform = renesas-ra
+framework = arduino
+board = uno_r4_minima
+lib_deps =
+    SoftwareSerial
+    ${env.lib_deps}
+
 [env:pico]
 platform = https://github.com/maxgerhardt/platform-raspberrypi.git
 board = rpipico

src/TMC2209.h

@@ -51,6 +51,10 @@ class TMC2209
     SerialAddress serial_address,
     int16_t alternate_rx_pin,
     int16_t alternate_tx_pin);
+#elif defined(ARDUINO_UNOR4_MINIMA)
+  void setup(UART & serial,
+    long serial_baud_rate,
+    SerialAddress serial_address);
 #endif
 
 #if SOFTWARE_SERIAL_INCLUDED

src/TMC2209/TMC2209.cpp

@@ -73,6 +73,17 @@ void TMC2209::setup(SerialUART & serial,
 
   initialize(serial_baud_rate, serial_address);
 }
+#elif defined(ARDUINO_UNOR4_MINIMA)
+void TMC2209::setup(UART & serial,
+  long serial_baud_rate,
+  SerialAddress serial_address)
+{
+  hardware_serial_ptr_ = &serial;
+  hardware_serial_ptr_->end();
+  hardware_serial_ptr_->begin(serial_baud_rate);
+
+  initialize(serial_baud_rate, serial_address);
+}
 #endif
 
 #if SOFTWARE_SERIAL_INCLUDED