TMCstepper (TMC2209) problem in UART mode with SAMD51

[4mInnovations]

Hi all,
I'm trying to run a stepper motor with the accelStepper library, a TMC2209 drive and an Adafruit Grand central M4 (samd51).

But with my code, as soon as I use "driver.", my "readSerialPortPc()" fonction no longer works.
As soon as I comment out all the "driver.", my "readSerialPortPc()" function starts working again.

#include <Arduino.h>   // required before wiring_private.h
#include "wiring_private.h" // pinPeripheral() function

#include <AccelStepper.h>
#include "SdFat.h"
#include "Adafruit_SPIFlash.h"

#include <TMCStepper.h>

char nomFichier[30] = "test_uart_v2b_GCM4";
char modeleCPU [30] = "Grand central M4";

//Lets put TX on D4 (SERCOM2.0) and RX on D3 (SERCOM2.1)
Uart Serial2 (&sercom2, 3, 4, SERCOM_RX_PAD_1, UART_TX_PAD_0);

#define EN_PIN           7// Enable
#define DIR_PIN          6// Direction
#define STEP_PIN         5// Step
#define SERIAL_PORT Serial2 
#define R_SENSE 0.11f // Match to your driver
#define DRIVER_ADDRESS   0b00   // TMC2209 Driver address according to MS1 and MS2

//TMC2209Stepper driver(&Serial2x, R_SENSE, DRIVER_ADDRESS);
TMC2209Stepper driver(&SERIAL_PORT, R_SENSE, DRIVER_ADDRESS);

AccelStepper stepper = AccelStepper(stepper.DRIVER, STEP_PIN, DIR_PIN);

boolean etat_Enable = false;
boolean stepperRun = false;
boolean reverseDir = false;

boolean serialAOn = false;

long tempsDepart = 0;
long tempsEcoule = 0;

uint16_t nbMicroSteps = 4;
uint16_t valeurCurrent  = 400;
uint16_t msread = 0;

void SERCOM2_Handler()
{
  Serial2.IrqHandler();
}

void setup() {
  Serial.begin(115200);  
  SERIAL_PORT.begin(115200);
  
  // Assign pins 3 & 4 SERCOM functionality
  pinPeripheral(3, PIO_SERCOM_ALT);
  pinPeripheral(4, PIO_SERCOM_ALT);


  //driver.begin();             // Initiate pins and registeries
  //driver.toff(5);                 // Enables driver in software
  //driver.rms_current(valeurCurrent);    // Set stepper current to 600mA. The command is the same as command TMC2130.setCurrent(600, 0.11, 0.5);
  //driver.microsteps(nbMicroSteps);    
  //driver.pwm_autoscale(1);    

  stepper.setMaxSpeed(2000); // 100mm/s @ 80 steps/mm  
  stepper.setAcceleration(20000); // 2000mm/s^2
    
  stepper.setEnablePin(EN_PIN);
  stepper.setPinsInverted(false, false, true);
    
  stepper.disableOutputs();

  etat_Enable = false;    
}

void loop() {
  readSerialPortPc ();    
}


void enableDrive(boolean sortieOuPas){
  etat_Enable = true;          
  stepper.enableOutputs();
  if(sortieOuPas){
    Serial.println("Enable à ON");   
  }  
}

void disableDrive(boolean sortieOuPas){
  etat_Enable = false;          
  stepper.disableOutputs();
  if(sortieOuPas){
    Serial.println("Enable à OFF");   
  }    
}

void  readSerialPortPc (){ 
 int tempo, i,s;
 int gyros=0;
 
 while (Serial.available() > 0) {
   int index=Serial.read(); // lire un premier caractère

   // filtrer : il doit etre une lettre minuscule ou majuscule
   if(index >= 'A' && index <= 'z'){
     int valeur = Serial.parseInt();
      // controle eventuel de la valeur
     
     // traitement
     switch(index){
       case 'i':
        Serial.print(nomFichier);Serial.print(" et CPU : ");Serial.println(modeleCPU);        
        Serial.println("");
       break;
      
     }  // switch
    }  //if
  } // if
}  // fonction

[Railroader]

Which controller are You using?
Schematics might help us...
Link to the driver's datasheet....
Link to the manual for the samd51....

[4mInnovations]

I use a grand central M4 of adafruit :
Grand central documentation

The driver is a TMC2209 v1.2 of bigtreetech:
TMC2209 chip documentation

For the wiring, check the image.

I try this wiring with a Mega 2560 and it works perfectly with TX and RX wiring at the TX1 and RX1 of the board.