Switch controlling step driver to serial interface

arduino_code/Test/src/config.cpp

@@ -1,6 +1,5 @@
 #include "config.h"
 
-// WiFi & MQTT
 const char* WIFI_SSID = "Home";
 const char* WIFI_PASS = "88888888qwE";
 const char* MQTT_SERVER = "192.168.31.225";
@@ -9,12 +8,21 @@ const char* MQTT_USER = "test";
 const char* MQTT_PASS = "1234";
 const char* MQTT_CLIENT_ID = "ESP32_Stepper";
 
-// Pins
-const int DIR_PIN = 18;
-const int STEP_PIN = 19;
+// UART2: RX=16, TX=17
+HardwareSerial& TMC_SERIAL = Serial2;
+const uint32_t TMC_BAUD_RATE = 115200;
+const uint8_t TMC_SERIAL_ADDRESS = 0; // Если MS1 и MS2 на GND
+
+const int16_t TMC_RX_PIN = 16;
+const int16_t TMC_TX_PIN = 17;
 const int EN_PIN = 21;
 
-// Motor Params
 const int STEPS_PER_REVOLUTION = 200;
-const int MICROSTEP_FACTOR = 1;
-const unsigned long RAMP_DURATION_MS = 2000;
+const unsigned long RAMP_DURATION_MS = 2000;
+
+// Ток задается в процентах от максимума (зависит от R_sense). 
+// Для R_sense=0.11 Ом, 100% ~ 1.77А RMS. Для R_sense=0.15 Ом, 100% ~ 1.2А RMS.
+const uint8_t TMC_RUN_CURRENT_PERCENT = 50;   // 50% тока при движении
+const uint8_t TMC_HOLD_CURRENT_PERCENT = 20;  // 20% тока в простое
+const uint8_t TMC_STALL_GUARD_THRESH = 10;    
+const uint16_t TMC_MICROSTEPS = 1;