TMC5160 Driver - ESP32 Examples

This directory contains comprehensive examples for using the TMC5160 stepper motor driver with ESP32 microcontrollers.

🛠️ Hardware Setup

These examples are configured by default for a specific Trinamic TMC5160 Dev/Eval Kit setup.

Quick Summary:

• Driver: TMC5160
• MOSFETs: BSC072N08NS5 (Low Gate Charge)
• Motor: 17HS4401S-PG518 (NEMA 17 with 5.18:1 Gearbox)
• Sense Resistors: 0.05 $\Omega$
• Current Settings: IRUN=8 (~0.8A RMS), DRVSTRENGTH=0

👉 Full Hardware Configuration & Pinout
Please read the detailed setup guide above before running any examples to ensure your hardware matches the configuration and avoid damage.

📂 Available Examples

App	Description
internal_ramp_sinusoidal	Back-and-forth motion using internal ramp positioning mode.
internal_ramp_comprehensive_test	Main test suite: core, motor, ramp, diagnostics, protection.
fatigue_test_espnow_unit	Point-to-point fatigue motion, ESP-NOW + UART, bounds finding.
stallguard_tuning	Automatic StallGuard2 (SGT) tuning for sensorless homing.
bounds_finding_test	Standalone bounds finding and homing test.
spi_daisy_chain_comprehensive_test	Multi-motor SPI daisy chain tests (2+ drivers required).
uart_multi_node_comprehensive_test	Multi-node UART tests (2+ drivers, placeholder impl).
abn_encoder_reader	ABN incremental encoder position reader.
i2c_scan	I2C bus scanner for OLED UI board.

Run ./scripts/build_app.sh list to see all apps and build types.

🚀 Getting Started

1. Setup Hardware: Connect your ESP32 and TMC5160 according to the Hardware Setup Guide.
2. Install ESP-IDF and project tools environment:

   cd examples/esp32/scripts
   ./manage_idf.sh install                     # Install required ESP-IDF versions from app_config.yml
   source <(./manage_idf.sh export release/v5.5)
   

3. Explore available apps and build types:

   cd ..                                       # Back to examples/esp32 project root
   ./scripts/build_app.sh list                 # Show apps, build types, and IDF versions
   

4. Build an app (example: fatigue_test_espnow_unit):

   ./scripts/build_app.sh fatigue_test_espnow_unit Debug     # or Release
   

5. Flash and monitor using flash_app.sh:

   ./scripts/flash_app.sh --port /dev/ttyACM0 flash_monitor fatigue_test_espnow_unit Debug
   # or, for a release build:
   ./scripts/flash_app.sh --port /dev/ttyACM0 flash_monitor fatigue_test_espnow_unit Release
   

6. More information about the build/flash system:
   • See scripts/README.md for an overview of the ESP-IDF project tools.
   • Full documentation: HardFOC ESP-IDF Project Tools Docs

⚠️ Critical Warnings

• Charge Pump: Ensure the 22nF/100V capacitor is connected between VCP and VS. Missing this will cause uv_cp=1 errors.
• Wiring: Verify motor phases are not shorted before powering up.
• Current: The default configuration is safe for the specified 0.05 Ohm sense resistors. If using standard 0.075 Ohm resistors, the current will be lower (safe).