ADI Trinamic TMC2208 smart stepper driver

Above is TMC2209 modules, but TMC2208 is nearly identical.

Setup

Import the component(s).

external_components:
  - source: github://slimcdk/esphome-custom-components
    components: [ tmc2208_hub, tmc2208, stepper ]

Configuration of UART Bus

uart:
  tx_pin: REPLACEME
  rx_pin: REPLACEME
  baud_rate: 500000 # 9600 -> 500k

baud_rate (Required, int): The baud rate of the UART bus. TMC2208 will auto-detect baud rates from 9600 to 500k with the internal clock/oscillator. An external clock/oscillator is needed for baud rates higher than 500k.
tx_pin (Required, Output Pin Schema): This is the ESPHome device's transmit pin. This should be connected through a 1k Ohm resistor to PDN_UART on the TMC2208.
rx_pin (Required, Input Pin Schema): This is the ESPHome device's receive pin. This should be connected directly to PDN_UART on the TMC2208.

Note

Avoid selecting a UART which is utilized for other purposes. For instance boot log as the TMC2208 will try to interpret the output.

Configuration of hub

This part facilitates a semaphore-like channel to allow multiple drivers on same UART.

Tip

Configuration of the hub can be omitted if only a single UART is configured.

tmc2208_hub:

# or with ids
tmc2208_hub:
  id: REPLACEME
  uart_id: REPLACEME

# or multiple hubs
tmc2208_hub:
  - id: REPLACEME
    uart_id: REPLACEME
  - id: REPLACEME
    uart_id: REPLACEME

id (Required, ID): Specify the ID of the hub so that you can explicitly reference it.
uart_id (Required, ID): Reference the UART config.

Example of utilizing the hub with two drivers on same UART.

uart:
  - id: tmc_comms
    tx_pin: ...
    rx_pin: ...
    baud_rate: ...

  - id: uart_for_other_stuff
    tx_pin: ...
    rx_pin: ...
    baud_rate: ...


tmc2208_hub:
  id: hub1
  uart_id: tmc_comms


stepper:
  - platform: tmc2208
    id: driver1
    tmc2208_hub_id: hub1
    address: 0x00
    ... all other options

  - platform: tmc2208
    id: driver2
    tmc2208_hub_id: hub1
    address: 0x01
    ... all other options

Example of omitting tmc2208_hub as which UART to use is inferred.

uart:
  tx_pin: ...
  rx_pin: ...
  baud_rate: ...

stepper:
  - platform: tmc2208
    id: driver1
    address: 0x00
    ... all other options

  - platform: tmc2208
    id: driver2
    address: 0x01
    ... all other options

Stepper configuration

The stepper can be controlled in two ways. See section 1.3 for technical information.

Control the position using serial (UART)

Accuracy is slightly reduced for tighter timing and high-frequency pulse generation, which is handled internally by the driver rather than the ESPHome microcontroller. This ensures consistent pulse generation without interference from other components, making it ideal for high microstep interpolation or silent operation. Relevant info can be found in section 1.3.

The provided accuracy is often precise enough, but it depends on speeds and how often the component can write to the driver.

Important

Configure index_pin and not step_pin and dir_pin for this method.

Control the position using traditional stepping pulses and direction

Stepping pulses are handled by the main thread but utilize increased execution frequency functionality to generate pulses as fast as possible. Pulses are therefore limited to whenever the ESP can generate a pulse, and any timing inconsistencies may cause erratic motor noise or operational issues when running the motor.

More components take up more resources slowing the main thread.

Important

Configure step_pin and dir_pin (index_pin is optional) for this method. Stay below 8 microstepping for best performance.

stepper:
  - platform: tmc2208
    id: driver
    max_speed: 500 steps/s
    acceleration: 2500 steps/s^2
    deceleration: 2500 steps/s^2
    rsense: REPLACEME
    # enn_pin: REPLACEME
    # diag_pin: REPLACEME
    index_pin: REPLACEME
    # step_pin: REPLACEME
    # dir_pin: REPLACEME

id (Required, ID): Specify the ID of the stepper so that you can control it.
tmc2208_hub_id (Required, ID): Specify the ID of the hub this stepper is connected to. May be be left out if only a single or no tmc2208_hub is configured
address (Optional, hex): UART address of the IC. Configured by setting MS1_AD0 or MS2_AD1 high or low. Default is 0x00.
enn_pin (Optional, Output Pin Schema): Enable not input pin for the driver.

Driver can't be enabled if ENN is left floating. Either configure it if it's actually connected or wire it to GND.
diag_pin (Optional, Input Pin Schema): Error signaling from the driver.
index_pin (Optional, Input Pin Schema): Serves as stepping feedback from the internal step pulse generator (not serving any purpose if step_pin and dir_pin is configured).
step_pin (Optional, Output Pin Schema): Provides stepping pulses to the driver.
dir_pin (Optional, Output Pin Schema): Controls direction of the motor.
rsense (Optional, resistance): Motor current sense resistors. Often varies from ~75 to 1000 mOhm. The actual value for your board can be found in the documentation. Leave empty to enable internal sensing using RDSon (170 mOhm). Don't leave empty if your board has external sense resistors!
vsense (Optional, boolean): Reduce currents/power to ~55% if smaller (<1/4 W) RSense resistors are used. Defaults to OTP. RSense must be configued as well.
ottrim (Optional, int): Limits for warning and shutdown temperatures. Default is OTP. OTP is 0 from factory. See below table for values.

OTTRIM Prewarning Shutdown

0 120C 143C

1 120C 150C

2 143C 150C

3 143C 157C

Driver will stay disabled until prewarning clears when shutdown has been triggered. Can be reenabled once temperature is below prewarning.
analog_current_scale (Optional, boolean): If enabled, VREF input can adjust currents between 0 to IRUN. Defaults to False meaning the input is ignored and currents will match settings set by tmc2208.currents.

Note

VREF is often a tiny potentiometer. Setting IRUN to 31 will allow VREF adjustments in the full current range allowed by the sense resistors (rsense). Setting IRUN to 16 narrows that range to ~50%. IRUN effectively sets the upper limit for what VREF can scale to.

config_dump_include_registers (Optional, boolean): Config dump will display current values in the drivers registers if set. Default is false.
clock_frequency (Optional, frequency): Timing reference for all functionalities of the driver. Defaults to 12MHz, which all drivers are factory calibrated to. Only set if using external clock.
All other from Base Stepper Component

Automation

`on_status`

An event is fired whenever a driver warning or error is detected. For instance when the driver overheats.

stepper:
  - platform: tmc2208
    id: driver
    ...
    on_status:
      - if:
          condition:
            lambda: return code == tmc2208::OVERTEMPERATURE_PREWARNING;
          then:
            - logger.log: "Driver is about to overheat"

All events in an example config for easy copy/paste

Driver status codes

Most events is signaling that the driver is in a given state. The majority of events also has a CLEARED or similar counterpart signaling that the driver is now not in the given state anymore.

DIAG_TRIGGERED | DIAG_TRIGGER_CLEARED DIAG output is triggered. Primarily driver errors.
RESET | RESET_CLEARED Driver has been reset since last power on.
DRIVER_ERROR | DRIVER_ERROR_CLEARED A driver error was detected.
CP_UNDERVOLTAGE | CP_UNDERVOLTAGE_CLEARED Undervoltage on chargepump input.
OVERTEMPERATURE_PREWARNING | OVERTEMPERATURE_PREWARNING_CLEARED Driver is warning about increasing temperature.
OVERTEMPERATURE | OVERTEMPERATURE_CLEARED Driver is at critical high temperature and is shutting down.
TEMPERATURE_ABOVE_120C | TEMPERATURE_BELOW_120C Temperature is higher or lower than 120C.
TEMPERATURE_ABOVE_143C | TEMPERATURE_BELOW_143C Temperature is higher or lower than 143C.
TEMPERATURE_ABOVE_150C | TEMPERATURE_BELOW_150C Temperature is higher or lower than 150C.
TEMPERATURE_ABOVE_157C | TEMPERATURE_BELOW_157C Temperature is higher or lower than 157C.
OPEN_LOAD | OPEN_LOAD_CLEARED Open load indicator.
OPEN_LOAD_A | OPEN_LOAD_A_CLEARED Open load indicator phase A.
OPEN_LOAD_B | OPEN_LOAD_B_CLEARED Open load indicator phase B.
LOW_SIDE_SHORT | LOW_SIDE_SHORT_CLEARED Low side short indicator.
LOW_SIDE_SHORT_A | LOW_SIDE_SHORT_A_CLEARED Low side short indicator phase A.
LOW_SIDE_SHORT_B | LOW_SIDE_SHORT_B_CLEARED Low side short indicator phase B.
GROUND_SHORT | GROUND_SHORT_CLEARED Short to ground indicator.
GROUND_SHORT_A | GROUND_SHORT_A_CLEARED Short to ground indicator phase A.
GROUND_SHORT_B | GROUND_SHORT_B_CLEARED Short to ground indicator phase B.

Actions

Note

Registers and fields on the driver persist through an ESPHome device reboot, so previously written states may remain active. They are set to OTP/defaults or cleared when the driver power cycles.

`tmc2208.configure` Action

Example of configuring the driver. For instance on_boot.

on_...:
  - tmc2208.configure:
      direction: REPLACEME
      microsteps: REPLACME
      interpolation: REPLACEME
      enable_spreadcycle: REPLACEME
      tpwm_threshold: REPLACEME

id (Required, ID): Reference to the stepper tmc2208 component. Can be left out if only a single TMC2208 is configured.
direction (Optional, string, templatable): Effectively inverse the rotational direction. Options are clockwise or counterclockwise and their abbreviations cw or cww.
microsteps (Optional, int, templatable): Microstepping. Possible values are 1, 2, 4, 8, 16, 32, 64, 128, 256.
interpolation (Optional, bool, templatable): The actual microstep resolution (MRES) becomes extrapolated to 256 microsteps for the smoothest motor operation.
enable_spreadcycle (Optional, bool, templatable): True completely disables StealthChop and only uses SpreadCycle, False allows use of StealthChop. Defaults to OTP.
tpwm_threshold (Optional, int, templatable): Sets TPWMTHRS

`tmc2208.currents` Action

Example of configuring currents and standstill mode.

on_...:
  - tmc2208.currents:
      standstill_mode: REPLACEME
      irun: REPLACEME
      run_current: REPLACEME
      ihold: REPLACEME
      hold_current: REPLACEME
      tpowerdown: REPLACEME
      iholddelay: REPLACEME

id (Required, ID): Reference to the stepper tmc2208 component. Can be left out if only a single TMC2208 is configured.
standstill_mode (Optional, templatable): Standstill mode for when movement stops. Default is OTP. Available modes are:
- normal: Actively breaks the motor.
- freewheeling: ihold and/or hold_current must be 0 for true freewheeling. Higher IHOLD enforces high currents thus harder braking effect.
- short_coil_ls: Similar to freewheeling, but with motor coils shorted to low side voltage.
- short_coil_hs: Similar to freewheeling, but with motor coils shorted to high side voltage.
irun (Optional, int, templatable): IRUN setting. Must be between 0 and 31.
run_current (Optional, current, templatable): Converts a RMS current setting to IRUN based on RSense and VSense according to section 9.
ihold (Optional, int, templatable): IHOLD setting. Must be between 0 and 31.
hold_current (Optional, current, templatable): Converts a RMS current setting to IHOLD based on RSense and VSense according to section 9.
tpowerdown (Optional, int, templatable): TPOWERDOWN setting. Must be between 0 and 31.
iholddelay (Optional, int, templatable): IHOLDDELAY setting. Must be between 0 and 31.

Note

See section 1.7 for visiual graphs of IRUN, TPOWERDOWN and IHOLDDELAY and IHOLD

`tmc2208.chopconf` Action

on_...:
  - tmc2208.chopconf:
      tbl: REPLACEME
      hend: REPLACEME
      hstrt: REPLACEME

id (Required, ID): Reference to the stepper tmc2208 component. Can be left out if only a single TMC2208 is configured.
tbl (Optional, int, templatable): Sets CHOPCONF TBL
hend (Optional, int, templatable): Sets CHOPCONF HEND
hstrt (Optional, int, templatable): Sets CHOPCONF HSTRT

`tmc2208.pwmconf` Action

on_...:
  - tmc2208.pwmconf:
      lim: REPLACEME
      reg: REPLACEME
      freq: REPLACEME
      ofs: REPLACEME
      autograd: REPLACEME
      autoscale: REPLACEME

id (Required, ID): Reference to the stepper tmc2208 component. Can be left out if only a single TMC2208 is configured.
lim (Optional, int, templatable): Sets PWMCONF PWM_LIM
reg (Optional, int, templatable): Sets PWMCONF PWM_REG
freq (Optional, int, templatable): Sets PWMCONF PWM_FREQ
ofs (Optional, int, templatable): Sets PWMCONF PWM_OFS
autograd (Optional, boolean, templatable): Sets PWMCONF PWM_AUTOGRAD
autoscale (Optional, boolean, templatable): Sets PWMCONF PWM_AUTOSCALE

`tmc2208.enable` Action

This uses TOFF (sets to 3) if enn_pin is not set to enable the driver. Driver will automatically be enabled if new target is issued.

on_...:
  - tmc2208.enable:
      id: driver
      restore_toff: REPLACEME

id (Required, ID): Reference to the stepper tmc2208 component. Can be left out if only a single TMC2208 is configured.
restore_toff (Optional, boolean, templatable): Will attempt to recover TOFF value. Used when no enn_pin is configured. Enabled by default.

`tmc2208.disable` Action

This uses TOFF (sets to 0) if enn_pin is not set to disable the driver. This will also trigger stepper.stop.

on_...:
  - tmc2208.disable:
      id: driver
      restore_toff: REPLACEME

id (Required, ID): Reference to the stepper tmc2208 component. Can be left out if only a single TMC2208 is configured.
restore_toff (Optional, boolean, templatable): Will attempt to recover TOFF value. Used when no enn_pin is configured.

Sensors

Some metrics from the driver is exposed as a ready-to-use sensor component.

sensor:
  - platform: tmc2208
    type: actual_current
    name: Actual current
    update_interval: 250ms

  - platform: tmc2208
    type: pwm_scale_sum
    name: PWM Scale Sum
    update_interval: 250ms

  - platform: tmc2208
    type: pwm_scale_auto
    name: PWM Scale Auto
    update_interval: 250ms

  - platform: tmc2208
    type: pwm_ofs_auto
    name: PWM OFS Auto
    update_interval: 250ms

  - platform: tmc2208
    type: pwm_grad_auto
    name: PWM Grad Auto
    update_interval: 250ms

tmc2208_id (Optional, ID): Manually specify the ID of the stepper.tmc2208 you want to use this sensor.
type (Required):
- Remeber to configure StallGuard threshold for this to work reliably.
- The load is calculated by. 510 - SG_RESULT / 510 - SGTHRS * 2 = load coefficient.
- actual_current Active current setting. Either IRUN or IHOLD value.
- pwm_scale_sum Actual PWM duty cycle. This value is used for scaling the values CUR_A and CUR_B read from the sine wave table.
- pwm_scale_auto 9 Bit signed offset added to the calculated PWM duty cycle. This is the result of the automatic amplitude regulation based on current measurement.
- pwm_ofs_auto Automatically determined offset value.
- pwm_grad_auto Automatically determined gradient value.
All other from Sensor

Example config

external_components:
  - source: github://slimcdk/esphome-custom-components
    components: [ tmc2208_hub, tmc2208, stepper ]

# esp32 or esp8266 config..

wifi:
  ssid: !secret WIFI_SSID
  password: !secret WIFI_PASSWORD

esphome:
  name: actuator
  on_boot:
    - tmc2208.configure:
        microsteps: 8
        interpolation: true
    - tmc2208.currents:
        standstill_mode: freewheeling
        irun: 16
        ihold: 0
        tpowerdown: 0
        iholddelay: 0

uart:
  tx_pin: 16
  rx_pin: 17
  baud_rate: 500000

stepper:
  - platform: tmc2208
    id: driver
    max_speed: 2000 steps/s
    acceleration: 5000 steps/s^2
    deceleration: 5000 steps/s^2
    config_dump_include_registers: true
    rsense: 110 mOhm
    index_pin: 42
    diag_pin: 41

button:
  - platform: template
    name: Stop
    on_press:
      - stepper.stop: driver

  - platform: template
    name: 10000 Steps forward
    on_press:
      - stepper.set_target:
          id: driver
          target: !lambda return id(driver)->current_position +10000;

  - platform: template
    name: 10000 Steps backward
    on_press:
      - stepper.set_target:
          id: driver
          target: !lambda return id(driver)->current_position -10000;

number:
  - platform: template
    name: Target position
    min_value: -100000
    max_value: 100000
    step: 100
    lambda: return id(driver)->current_position;
    update_interval: 1s
    set_action:
      - stepper.set_target:
          id: driver
          target: !lambda "return x;"

Partial output of above configuration.

...
[00:00:00][C][tmc2208_hub:013]: TMC2208 Hub:
[00:00:00][C][tmc2208_hub:014]:   Drivers in hub (1):
[00:00:00][C][tmc2208_hub:017]:     Driver with id 'driver1' on address 0x00
[00:00:00][C][tmc2208:011]: TMC2208 Stepper:
[00:00:00][C][tmc2208:012]:   Acceleration: 5000 steps/s^2
[00:00:00][C][tmc2208:012]:   Deceleration: 5000 steps/s^2
[00:00:00][C][tmc2208:012]:   Max Speed: 2000 steps/s
[00:00:00][C][tmc2208:013]:   Enable/disable driver with TOFF
[00:00:00][C][tmc2208:013]:   DIAG Pin: GPIO41
[00:00:00][C][tmc2208:013]:   INDEX Pin: GPIO42
[00:00:00][C][tmc2208:013]:   Address: 0x00
[00:00:00][C][tmc2208:013]:   Detected IC version: 0x20
[00:00:00][C][tmc2208:013]:   Microsteps: 8
[00:00:00][C][tmc2208:013]:   Clock frequency: 12000000 Hz (VACTUAL factor: 0.715256)
[00:00:00][C][tmc2208:013]:   Overtemperature: prewarning = 120C | shutdown = 143C
[00:00:00][C][tmc2208:013]:   Status check: enabled
[00:00:00][C][tmc2208:013]:   Currents:
[00:00:00][C][tmc2208:013]:     Limits: 1767 mA
[00:00:00][C][tmc2208:013]:     IRUN: 1 (110 mA)
[00:00:00][C][tmc2208:013]:     IHOLD: 0 (0 mA)
[00:00:00][C][tmc2208:013]:     Additional scaling by VREF is disabled
[00:00:00][C][tmc2208:013]:     VSense: False (high heat dissipation)
[00:00:00][C][tmc2208:013]:     RSense: 0.110 Ohm external sense resistors
[00:00:00][C][tmc2208:013]:   Register dump:
[00:00:00][C][tmc2208:013]:     GCONF:        0x000001E0
[00:00:00][C][tmc2208:013]:     GSTAT:        0x00000000
[00:00:00][C][tmc2208:013]:     IFCNT:        0x00000061
[00:00:00][C][tmc2208:013]:     SLAVECONF:    0x00000000
[00:00:00][C][tmc2208:013]:     OTP_PROG:     0x00000000
[00:00:00][C][tmc2208:013]:     OTP_READ:     0x0000000C
[00:00:00][C][tmc2208:013]:     IOIN:         0x20000140
[00:00:00][C][tmc2208:013]:     FACTORY_CONF: 0x0000000C
[00:00:00][C][tmc2208:013]:     IHOLD_IRUN:   0x00000100
[00:00:00][C][tmc2208:013]:     TPOWERDOWN:   0x00000000
[00:00:00][C][tmc2208:013]:     TSTEP:        0x000FFFFF
[00:00:00][C][tmc2208:013]:     TPWMTHRS:     0x00000000
[00:00:00][C][tmc2208:013]:     VACTUAL:      0x00000000
[00:00:00][C][tmc2208:013]:     MSCNT:        0x00000230
[00:00:00][C][tmc2208:013]:     MSCURACT:     0x011301B7
[00:00:00][C][tmc2208:013]:     CHOPCONF:     0x15010053
[00:00:00][C][tmc2208:013]:     DRV_STATUS:   0xC0000000
[00:00:00][C][tmc2208:013]:     PWM_CONF:     0xC81D0E24
[00:00:00][C][tmc2208:013]:     PWM_SCALE:    0x000A0011
[00:00:00][C][tmc2208:013]:     PWM_AUTO:     0x001A00FF
...

Advanced

Writing to and reading from registers and register fields from the driver can easily be done with the help of preexisting helper definitions from the underlying TMC-API. A description of the register map can be found under section 5.

Important

The tmc2208 component holds a mirror in memory of the values written to the driver. This means write-only registers can still be read with below methods provided they have been written already.

Definitions ending in _MASK or _SHIFT should not be used.

The tmc2208 base component exposes four methods:

void write_register(uint8_t address, int32_t value) write/overwrite an entire register.
int32_t read_register(uint8_t address) read an entire registers.
void write_field(RegisterField field, uint32_t value) write/overwrite a register field.
uint32_t read_field(RegisterField field) read a register field.
uint32_t extract_field(uint32_t data, RegisterField field) extract field value from register value.

Caution

Overwriting below registers may cause instability in the ESPHome component and should be avoided.

VACTUAL_FIELD
TOFF_FIELD
VSENSE_FIELD
DEDGE_FIELD
INDEX_OTPW_FIELD
INDEX_STEP_FIELD
MULTISTEP_FILT_FIELD
PDN_DISABLE_FIELD
INTERNAL_RSENSE_FIELD
I_SCALE_ANALOG_FIELD
TEST_MODE_FIELD

Example usage in lambdas

sensor:

    // Read microstep selection index into a sensor. This is a binary exponent like 0,1,2,3,... and microsteps can be calculated like 2**<exponent>
  - platform: template
    name: Microstep selection index
    lambda: return id(driver)->read_field(MRES_FIELD);


button:

    // Write value 3 to MRES register field. 2**3 = microstepping of 8
  - platform: template
    name: Set microstepping to 8
    on_press:
      - lambda: id(driver)->write_field(MRES_FIELD, 3);

Wiring

Guides to wire ESPHome supported MCU to a TMC2208 driver for either only UART control or pulse control.

UART Control

Wiring for UART control

Pulse control

Wiring for Pulse control

Important

Most drivers come as breakout modules and connections can often be labeled slightly differently. PDN_UART was often not labeled, as serial communication was rarly used in the early days, but is apparent on nearly all new modules.

Resources

Troubleshooting

`Unable to read IC version. Is the driver powered and wired correctly?`

Make sure UART is correctly wired and the 1k Ohm resistor is placed correctly.
Make sure the driver is power on VM / VS (motor supply voltage). Must be between 4.75 and 29V.

`Detected unknown IC version: 0x??`

First generation of TMC2208s have version 0x20. There is only a single version released as of Q3 2024. If you are seeing version 0x20 that means you have a TMC2208 which is not supported by this component.

`Reading from UART timed out at byte 0!`

Poor signal integrity can cause instability in the UART connection. The component doesn't retry writing/reading if a reading failed. Make sure the connection is reliable for best performance. Try lower baud rates if these only appear occasionally.

Driver makes "sizzling" noise

Long wires connected to ENN might pick up interference causing the driver to make a sizzling noise if left floating.

`undefined reference to vtable`

Source code for components aren't fully loading when adding additional components on ESP-IDF framework with an existing compiled binary. Solution is to do a clean build.

`Component tmc2208 took a long time for an operation ...`

A lot is happening over serial and low baud rates might cause this warning. Make sure to use the highest baud rate possible. Preferably 500k, which is the highest supported baud rate without external clock.

TODOs

Reconfigure driver if driver was power cycled.
OTTRIM not setting or reading properly.
Implement hardware timer for step pulse generation.
Use index for warning if stepper is controlled with step/dir.
Setup with RX omitted.
tmc2208_hub handle chip select like setup for multiple drivers with same addresses.

MISC

Status events

All status events configured for easy copy-pasta.

stepper:
  - platform: tmc2208
    id: driver
    ...
    on_status:
      - logger.log:
          format: "Driver is reporting an update! (code %d)"
          args: ["code"]
      - if:
          condition:
            lambda: return code == tmc2208::DIAG_TRIGGERED;
          then:
            - logger.log: DIAG_TRIGGERED
      - if:
          condition:
            lambda: return code == tmc2208::DIAG_TRIGGER_CLEARED;
          then:
            - logger.log: DIAG_TRIGGER_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::RESET;
          then:
            - logger.log: RESET
      - if:
          condition:
            lambda: return code == tmc2208::RESET_CLEARED;
          then:
            - logger.log: RESET_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::DRIVER_ERROR;
          then:
            - logger.log: DRIVER_ERROR
      - if:
          condition:
            lambda: return code == tmc2208::DRIVER_ERROR_CLEARED;
          then:
            - logger.log: DRIVER_ERROR_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::CP_UNDERVOLTAGE;
          then:
            - logger.log: CP_UNDERVOLTAGE
      - if:
          condition:
            lambda: return code == tmc2208::CP_UNDERVOLTAGE_CLEARED;
          then:
            - logger.log: CP_UNDERVOLTAGE_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::OVERTEMPERATURE_PREWARNING;
          then:
            - logger.log: OVERTEMPERATURE_PREWARNING
      - if:
          condition:
            lambda: return code == tmc2208::OVERTEMPERATURE_PREWARNING_CLEARED;
          then:
            - logger.log: OVERTEMPERATURE_PREWARNING_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::OVERTEMPERATURE;
          then:
            - logger.log: OVERTEMPERATURE
      - if:
          condition:
            lambda: return code == tmc2208::OVERTEMPERATURE_CLEARED;
          then:
            - logger.log: OVERTEMPERATURE_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::TEMPERATURE_ABOVE_120C;
          then:
            - logger.log: TEMPERATURE_ABOVE_120C
      - if:
          condition:
            lambda: return code == tmc2208::TEMPERATURE_BELOW_120C;
          then:
            - logger.log: TEMPERATURE_BELOW_120C
      - if:
          condition:
            lambda: return code == tmc2208::TEMPERATURE_ABOVE_143C;
          then:
            - logger.log: TEMPERATURE_ABOVE_143C
      - if:
          condition:
            lambda: return code == tmc2208::TEMPERATURE_BELOW_143C;
          then:
            - logger.log: TEMPERATURE_BELOW_143C
      - if:
          condition:
            lambda: return code == tmc2208::TEMPERATURE_ABOVE_150C;
          then:
            - logger.log: TEMPERATURE_ABOVE_150C
      - if:
          condition:
            lambda: return code == tmc2208::TEMPERATURE_BELOW_150C;
          then:
            - logger.log: TEMPERATURE_BELOW_150C
      - if:
          condition:
            lambda: return code == tmc2208::TEMPERATURE_ABOVE_157C;
          then:
            - logger.log: TEMPERATURE_ABOVE_157C
      - if:
          condition:
            lambda: return code == tmc2208::TEMPERATURE_BELOW_157C;
          then:
            - logger.log: TEMPERATURE_BELOW_157C
      - if:
          condition:
            lambda: return code == tmc2208::OPEN_LOAD;
          then:
            - logger.log: OPEN_LOAD
      - if:
          condition:
            lambda: return code == tmc2208::OPEN_LOAD_CLEARED;
          then:
            - logger.log: OPEN_LOAD_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::OPEN_LOAD_A;
          then:
            - logger.log: OPEN_LOAD_A
      - if:
          condition:
            lambda: return code == tmc2208::OPEN_LOAD_A_CLEARED;
          then:
            - logger.log: OPEN_LOAD_A_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::OPEN_LOAD_B;
          then:
            - logger.log: OPEN_LOAD_B
      - if:
          condition:
            lambda: return code == tmc2208::OPEN_LOAD_B_CLEARED;
          then:
            - logger.log: OPEN_LOAD_B_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::LOW_SIDE_SHORT;
          then:
            - logger.log: LOW_SIDE_SHORT
      - if:
          condition:
            lambda: return code == tmc2208::LOW_SIDE_SHORT_CLEARED;
          then:
            - logger.log: LOW_SIDE_SHORT_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::LOW_SIDE_SHORT_A;
          then:
            - logger.log: LOW_SIDE_SHORT_A
      - if:
          condition:
            lambda: return code == tmc2208::LOW_SIDE_SHORT_A_CLEARED;
          then:
            - logger.log: LOW_SIDE_SHORT_A_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::LOW_SIDE_SHORT_B;
          then:
            - logger.log: LOW_SIDE_SHORT_B
      - if:
          condition:
            lambda: return code == tmc2208::LOW_SIDE_SHORT_B_CLEARED;
          then:
            - logger.log: LOW_SIDE_SHORT_B_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::GROUND_SHORT;
          then:
            - logger.log: GROUND_SHORT
      - if:
          condition:
            lambda: return code == tmc2208::GROUND_SHORT_CLEARED;
          then:
            - logger.log: GROUND_SHORT_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::GROUND_SHORT_A;
          then:
            - logger.log: GROUND_SHORT_A
      - if:
          condition:
            lambda: return code == tmc2208::GROUND_SHORT_A_CLEARED;
          then:
            - logger.log: GROUND_SHORT_A_CLEARED
      - if:
          condition:
            lambda: return code == tmc2208::GROUND_SHORT_B;
          then:
            - logger.log: GROUND_SHORT_B
      - if:
          condition:
            lambda: return code == tmc2208::GROUND_SHORT_B_CLEARED;
          then:
            - logger.log: GROUND_SHORT_B_CLEARED

OTTRIM	Prewarning	Shutdown
0	120C	143C
1	120C	150C
2	143C	150C
3	143C	157C

Files

README.md

Latest commit

History

README.md

File metadata and controls

ADI Trinamic TMC2208 smart stepper driver

Table of contents

Setup

Configuration of UART Bus

Configuration of hub

Stepper configuration

Control the position using serial (UART)

Control the position using traditional stepping pulses and direction

Automation

on_status

Driver status codes

Actions

tmc2208.configure Action

tmc2208.currents Action

tmc2208.chopconf Action

tmc2208.pwmconf Action

tmc2208.enable Action

tmc2208.disable Action

Sensors

Example config

Advanced

Wiring

UART Control

Pulse control

Resources

Parameterization of spreadCycle™

Parameterization of StallGuard2™ & CoolStep™

Choosing stepper motors

Other

Troubleshooting

Unable to read IC version. Is the driver powered and wired correctly?

Detected unknown IC version: 0x??

Reading from UART timed out at byte 0!

Driver makes "sizzling" noise

undefined reference to vtable

Component tmc2208 took a long time for an operation ...

TODOs

MISC

Status events

`on_status`

`tmc2208.configure` Action

`tmc2208.currents` Action

`tmc2208.chopconf` Action

`tmc2208.pwmconf` Action

`tmc2208.enable` Action

`tmc2208.disable` Action

`Unable to read IC version. Is the driver powered and wired correctly?`

`Detected unknown IC version: 0x??`

`Reading from UART timed out at byte 0!`

`undefined reference to vtable`

`Component tmc2208 took a long time for an operation ...`