ESP32-C6 TMC9660 Comprehensive Test Suite

This directory contains comprehensive test suites for the TMC9660 motor driver using the ESP32-C6 DevKit-M-1. The tests support both the TMC9660-3PH-EVKIT (BLDC motor board) and TMC9660-STP-EVKIT (Stepper motor board).

📋 Table of Contents

Hardware Overview
Pin Connections
Hardware Setup
- BLDC Motor Board Setup
- Stepper Motor Board Setup
Building the Tests
Running the Tests
Test Suites
Troubleshooting

🔌 Hardware Overview

ESP32-C6 DevKit-M-1

The ESP32-C6 DevKit-M-1 serves as the host controller for communicating with the TMC9660 motor driver via SPI or UART.

┌─────────────────────────────────────────────────┐
│        ESP32-C6 DevKit-M-1                      │
│                                                 │
│  ┌──────────────────────────────────────────┐   │
│  │        ESP32-C6 Microcontroller          │   │
│  │                                          │   │
│  │  GPIO Pins:                              │   │
│  │  • SPI: MOSI, MISO, SCLK, CS             │   │
│  │  • UART: TX, RX                          │   │
│  │  • Control: RST, DRV_EN, FAULTN, WAKE    │   │
│  └──────────────────────────────────────────┘   │
│                                                 │
│  USB-C Connector                                │
│  (Power + Serial Communication)                 │
└─────────────────────────────────────────────────┘

TMC9660-3PH-EVKIT (BLDC Motor Board)

Evaluation kit for 3-phase BLDC motor control with Hall sensors and ABN encoders.

┌─────────────────────────────────────────────────┐
│      TMC9660-3PH-EVKIT                          │
│                                                 │
│  ┌──────────────────────────────────────────┐   │
│  │        TMC9660 IC                        │   │
│  │                                          │   │
│  │  Features:                               │   │
│  │  • 3-phase BLDC motor driver             │   │
│  │  • Hall sensor inputs (U, V, W)          │   │
│  │  • Dual ABN encoder inputs               │   │
│  │  • SPI Flash memory                      │   │
│  │  • Brake chopper & mechanical brake      │   │
│  └──────────────────────────────────────────┘   │
│                                                 │
│  Motor Connectors:                              │
│  • U, V, W (3-phase motor)                      │
│  • Hall sensors (GPIO2, 3, 4)                   │
│  • ABN encoder 1 (GPIO8, 13, 14)                │
│  • ABN encoder 2 (GPIO15, 16)                   │
└─────────────────────────────────────────────────┘

TMC9660-STP-EVKIT (Stepper Motor Board)

Evaluation kit for stepper motor control with reference switches and ABN encoders.

┌─────────────────────────────────────────────────┐
│      TMC9660-STP-EVKIT                          │
│                                                 │
│  ┌──────────────────────────────────────────┐   │
│  │        TMC9660 IC                        │   │
│  │                                          │   │
│  │  Features:                               │   │
│  │  • Stepper motor driver                  │   │
│  │  • Reference switches (Left, Right, Home)│   │
│  │  • Dual ABN encoder inputs               │   │
│  │  • SPI Flash memory                      │   │
│  └──────────────────────────────────────────┘   │
│                                                 │
│  Motor Connectors:                              │
│  • Step/Direction interface                     │
│  • Reference switches (GPIO2, 3, 4)             │
│  • ABN encoder 1 (GPIO8, 13, 14)                │
│  • ABN encoder 2 (GPIO15, 16)                   │
└─────────────────────────────────────────────────┘

🔗 Pin Connections

SPI Communication Interface

ESP32-C6 DevKit-M-1          TMC9660-3PH-EVKIT / STP-EVKIT
──────────────────          ───────────────────────────────
GPIO7  (MOSI)      ───────> SPI MOSI
GPIO2  (MISO)      <─────── SPI MISO
GPIO6  (SCLK)      ───────> SPI SCLK
GPIO18 (CS)        ───────> SPI CS

Control Pins:
──────────────────          ───────────────────────────────
GPIO22 (RST)       ───────> RST     (Active HIGH)
GPIO20 (DRV_EN)    ───────> DRV_EN  (Active HIGH)
GPIO19 (FAULTN)    <─────── FAULTN  (Active LOW, open-drain)
GPIO21 (WAKE)      ───────> WAKE    (Active LOW)

UART Communication Interface (Alternative)

ESP32-C6 DevKit-M-1          TMC9660-3PH-EVKIT / STP-EVKIT
──────────────────          ───────────────────────────────
GPIO5  (TX)        ───────> UART RX (GPIO6 on TMC9660)
GPIO4  (RX)        <─────── UART TX (GPIO7 on TMC9660)

Power and Common

ESP32-C6 DevKit-M-1          TMC9660-3PH-EVKIT / STP-EVKIT
──────────────────          ───────────────────────────────
GND                ───────> GND (Common ground)
3.3V / 5V          ───────> VCC (if needed for level shifting)

🛠️ Hardware Setup

BLDC Motor Board Setup (TMC9660-3PH-EVKIT)

Connection Diagram

┌─────────────────────┐         ┌─────────────────────┐
│  ESP32-C6 DevKit    │         │ TMC9660-3PH-EVKIT   │
│                     │         │                     │
│  GPIO7 (MOSI)  ─────┼─────────┼─> SPI MOSI          │
│  GPIO2 (MISO)  <────┼─────────┼─< SPI MISO          │
│  GPIO6 (SCLK)  ─────┼─────────┼─> SPI SCLK          │
│  GPIO18(CS)    ─────┼─────────┼─> SPI CS            │
│                     │         │                     │
│  GPIO22(RST)   ─────┼─────────┼─> RST               │
│  GPIO20(DRV_EN) ────┼─────────┼─> DRV_EN            │
│  GPIO19(FAULTN)<────┼─────────┼─< FAULTN            │
│  GPIO21(WAKE)  ─────┼─────────┼─> WAKE              │
│                     │         │                     │
│  GND           ─────┼─────────┼─> GND               │
│                     │         │                     │
│                     │         │  Motor Connections: │
│                     │         │  • U, V, W (3-phase)│
│                     │         │  • Hall (2,3,4)     │
│                     │         │  • Encoder1(8,13,14)│
│                     │         │  • Encoder2 (15,16) │
└─────────────────────┘         └─────────────────────┘

Setup Steps

Power Off: Ensure both boards are powered off before making connections.
Connect SPI Interface:
- Connect ESP32 GPIO7 → TMC9660 SPI MOSI
- Connect ESP32 GPIO2 → TMC9660 SPI MISO
- Connect ESP32 GPIO6 → TMC9660 SPI SCLK
- Connect ESP32 GPIO18 → TMC9660 SPI CS
Connect Control Pins:
- Connect ESP32 GPIO22 → TMC9660 RST
- Connect ESP32 GPIO20 → TMC9660 DRV_EN
- Connect ESP32 GPIO19 → TMC9660 FAULTN
- Connect ESP32 GPIO21 → TMC9660 WAKE
Connect Ground: Connect GND between ESP32 and TMC9660 boards.
Connect Motor (if testing with actual motor):
- Connect 3-phase BLDC motor to U, V, W terminals
- Connect Hall sensors to Hall connector (if using Hall feedback)
- Connect ABN encoder to Encoder connector (if using encoder feedback)
Power On:
- Power ESP32 via USB-C
- Power TMC9660 board via its power supply (typically 12V-48V)

Stepper Motor Board Setup (TMC9660-STP-EVKIT)

Connection Diagram

┌─────────────────────┐         ┌─────────────────────┐
│  ESP32-C6 DevKit    │         │ TMC9660-STP-EVKIT   │
│                     │         │                     │
│  GPIO7 (MOSI)  ─────┼─────────┼─> SPI MOSI          │
│  GPIO2 (MISO)  <────┼─────────┼─< SPI MISO          │
│  GPIO6 (SCLK)  ─────┼─────────┼─> SPI SCLK          │
│  GPIO18(CS)    ─────┼─────────┼─> SPI CS            │
│                     │         │                     │
│  GPIO22(RST)   ─────┼─────────┼─> RST               │
│  GPIO20(DRV_EN) ────┼─────────┼─> DRV_EN            │
│  GPIO19(FAULTN)<────┼─────────┼─< FAULTN            │
│  GPIO21(WAKE)  ─────┼─────────┼─> WAKE              │
│                     │         │                     │
│  GND           ─────┼─────────┼─> GND               │
│                     │         │                     │
│                     │         │  Motor Connections: │
│                     │         │  • Step/Dir         │
│                     │         │  • Ref Switches     │
│                     │         │    (Left,Right,Home)│
│                     │         │  • Encoder1 (8,13,14)│
│                     │         │  • Encoder2 (15,16) │
└─────────────────────┘         └─────────────────────┘

Setup Steps

Power Off: Ensure both boards are powered off before making connections.
Connect SPI Interface: (Same as BLDC board)
- Connect ESP32 GPIO7 → TMC9660 SPI MOSI
- Connect ESP32 GPIO2 → TMC9660 SPI MISO
- Connect ESP32 GPIO6 → TMC9660 SPI SCLK
- Connect ESP32 GPIO18 → TMC9660 SPI CS
Connect Control Pins: (Same as BLDC board)
- Connect ESP32 GPIO22 → TMC9660 RST
- Connect ESP32 GPIO20 → TMC9660 DRV_EN
- Connect ESP32 GPIO19 → TMC9660 FAULTN
- Connect ESP32 GPIO21 → TMC9660 WAKE
Connect Ground: Connect GND between ESP32 and TMC9660 boards.
Connect Motor (if testing with actual motor):
- Connect stepper motor to motor connector
- Connect reference switches to REF SWITCHES connector (Left=GPIO2, Right=GPIO3, Home=GPIO4)
- Connect ABN encoder to Encoder connector (if using encoder feedback)
Power On:
- Power ESP32 via USB-C
- Power TMC9660 board via its power supply

🏗️ Building the Tests

Prerequisites

ESP-IDF: Version 5.5 (release/v5.5) or later
Python: Version 3.8 or later (for ESP-IDF tools)
CMake: Version 3.16 or later
Git: For cloning the repository
Bash: For running the build scripts (Linux/macOS/Git Bash on Windows)

Installation Steps

Install ESP-IDF (if not already installed):

# Clone ESP-IDF
git clone --recursive https://github.com/espressif/esp-idf.git
cd esp-idf
   
# Checkout release version 5.5
git checkout release/v5.5
git submodule update --init --recursive
   
# Install ESP-IDF (Linux/macOS)
./install.sh esp32c6
   
# Set up environment (add to ~/.bashrc or ~/.zshrc for persistence)
. ./export.sh

Clone the Repository:

git clone <repository-url>
cd hf-tmc9660-driver

Navigate to ESP32 Examples:

cd examples/esp32

Setup Repository (First time only):

# Make scripts executable and setup the build environment
chmod +x scripts/*.sh
./scripts/setup_repo.sh

Available Test Applications

The test suites use a centralized build system with scripts. Available applications:

Application Name	Description	Board
`bldc_comprehensive_test`	Comprehensive BLDC motor testing with Hall sensors, ABN encoders, and velocity control	TMC9660-3PH-EVKIT
`stepper_comprehensive_test`	Comprehensive Stepper motor testing with FOC and step/dir control	TMC9660-STP-EVKIT
`dc_comprehensive_test`	Comprehensive DC motor testing with current and velocity control	TMC9660-3PH-EVKIT
`telemetry_comprehensive_test`	Comprehensive telemetry monitoring for temperature, current, voltage, and status	TMC9660-3PH-EVKIT
`bootloader_comprehensive_test`	Comprehensive bootloader testing for initialization and configuration	TMC9660-3PH-EVKIT

List Available Applications

# List all available applications
./scripts/build_app.sh list

Output:

Available Applications:
  • bldc_comprehensive_test         - Comprehensive BLDC motor testing suite
  • stepper_comprehensive_test      - Comprehensive Stepper motor testing suite
  • dc_comprehensive_test           - Comprehensive DC motor testing suite
  • telemetry_comprehensive_test    - Comprehensive telemetry monitoring test suite
  • bootloader_comprehensive_test   - Comprehensive bootloader testing suite

Building Applications

Build Syntax

./scripts/build_app.sh <app_type> <build_type>

Parameters:

<app_type>: Application name (e.g., bldc_comprehensive_test)
<build_type>: Build configuration - Debug or Release

Build Examples

# Build BLDC comprehensive test (Release build)
./scripts/build_app.sh bldc_comprehensive_test Release

# Build Stepper comprehensive test (Debug build)
./scripts/build_app.sh stepper_comprehensive_test Debug

# Build DC motor comprehensive test (Release build)
./scripts/build_app.sh dc_comprehensive_test Release

# Build Telemetry comprehensive test (Debug build)
./scripts/build_app.sh telemetry_comprehensive_test Debug

# Build Bootloader comprehensive test (Release build)
./scripts/build_app.sh bootloader_comprehensive_test Release

Build Output

Build artifacts are located in:

build-app-<app_type>-type-<build_type>-target-esp32c6-idf-<idf_version>/

Example:

build-app-bldc_comprehensive_test-type-Release-target-esp32c6-idf-release_v5.5/

Build Types

Build Type	Optimization	Debug Info	Use Case
`Debug`	`-O0` (no optimization)	Full (`-g3`)	Development, debugging
`Release`	`-O2` (optimized)	Minimal (`-g0`)	Production, performance testing

🚀 Running the Tests

Flashing and Monitoring

The build scripts provide convenient commands for flashing and monitoring your ESP32-C6.

Flash and Monitor (Auto-detect Port)

./scripts/flash_app.sh <app_type> <build_type>

This command will:

Auto-detect the ESP32 serial port
Flash the firmware
Start monitoring serial output

Flash and Monitor (Specify Port)

./scripts/flash_app.sh <app_type> <build_type> /dev/ttyUSB0    # Linux
./scripts/flash_app.sh <app_type> <build_type> /dev/cu.usbserial-*  # macOS
./scripts/flash_app.sh <app_type> <build_type> COM3            # Windows

Flash Only (No Monitor)

./scripts/flash_app.sh <app_type> <build_type> --no-monitor

Monitor Only (Reconnect)

./scripts/monitor_app.sh
./scripts/monitor_app.sh /dev/ttyUSB0    # Linux (specify port)

Complete Workflow Example

# 1. Build the application
./scripts/build_app.sh bldc_comprehensive_test Release

# 2. Flash and monitor
./scripts/flash_app.sh bldc_comprehensive_test Release

# Output will show:
# ✅ Building app: bldc_comprehensive_test
# ✅ Build type: Release
# ✅ Flashing firmware...
# ✅ Starting monitor...

Expected Output

After flashing and running, you should see output like:

╔══════════════════════════════════════════════════════════════════════════════╗
║                    ESP32-C6 BLDC COMPREHENSIVE TEST SUITE                    ║
║                         HardFOC TMC9660 Driver Tests                         ║
╚══════════════════════════════════════════════════════════════════════════════╝
Debug logging enabled for TMCL communication traces

╔══════════════════════════════════════════════════════════════════════════════╗
║                 BLDC TEST SECTION CONFIGURATION                                ║
╚══════════════════════════════════════════════════════════════════════════════╝

I (1234) BLDC_Test: Running core BLDC functionality tests...
I (5678) BLDC_Test: ✅ SPI bootloader initialization successful with EVKIT config
...

Test Progression Indicator

The test suite uses GPIO14 as a visual test progression indicator:

LOW → HIGH → LOW: Each transition indicates a completed test
Monitor GPIO14 with an oscilloscope or logic analyzer for visual feedback

Available Scripts

Script	Purpose	Usage
`build_app.sh`	Build specific application	`./scripts/build_app.sh <app> <build_type>`
`flash_app.sh`	Flash and monitor application	`./scripts/flash_app.sh <app> <build_type> [port]`
`monitor_app.sh`	Monitor serial output	`./scripts/monitor_app.sh [port]`
`setup_repo.sh`	Initial repository setup	`./scripts/setup_repo.sh`
`clean_app.sh`	Clean build artifacts	`./scripts/clean_app.sh <app> <build_type>`

Advanced Build Options

For advanced configuration, you can use ESP-IDF’s menuconfig:

# Configure build options
./scripts/config_app.sh <app_type> <build_type>

This opens the ESP-IDF menuconfig where you can customize:

Component config → TMC9660 Driver: Driver configuration options
Serial flasher config: Serial port and flash settings
Compiler options: Optimization and debug settings

📊 Test Suites

BLDC Comprehensive Test (`BLDCComprehensiveTest.cpp`)

Tests for 3-phase BLDC motor control:

✅ Bootloader initialization and configuration
✅ Motor type configuration (BLDC with various pole pairs)
✅ Hall sensor configuration and testing
✅ ABN encoder configuration and testing
✅ FOC control loop configuration
✅ Velocity and current control
✅ Commutation modes (FOC_HALL, FOC_ABN, FOC_OPENLOOP)
✅ Telemetry monitoring
✅ Performance benchmarking
✅ Error handling and edge cases

Board: TMC9660-3PH-EVKIT

Stepper Comprehensive Test (`StepperComprehensiveTest.cpp`)

Tests for stepper motor control:

✅ Bootloader initialization and configuration
✅ Motor type configuration (Stepper)
✅ Reference switch configuration (Left, Right, Home)
✅ ABN encoder configuration
✅ FOC position control
✅ Step/Direction control
✅ Microstepping configuration
✅ Position and velocity control
✅ Stall detection
✅ Telemetry monitoring

Board: TMC9660-STP-EVKIT

DC Motor Comprehensive Test (`DCComprehensiveTest.cpp`)

Tests for DC motor control:

✅ Bootloader initialization and configuration
✅ Motor type configuration (DC motor)
✅ Current control and torque limiting
✅ Velocity control with encoder feedback
✅ Open-loop current mode
✅ H-bridge control
✅ Protection features
✅ Telemetry monitoring

Board: TMC9660-3PH-EVKIT (same board as BLDC)

Telemetry Comprehensive Test (`TelemetryComprehensiveTest.cpp`)

Tests for telemetry and monitoring:

✅ Temperature monitoring
✅ Current monitoring
✅ Voltage monitoring
✅ Position and velocity feedback
✅ System status reporting
✅ Performance benchmarking
✅ Multi-device monitoring

Board: TMC9660-3PH-EVKIT

Bootloader Comprehensive Test (`BootloaderComprehensiveTest.cpp`)

Tests for bootloader functionality:

✅ Bootloader initialization
✅ Mode detection (bootloader vs parameter)
✅ Configuration reading and writing
✅ Flash memory operations
✅ Reset and recovery procedures

Board: TMC9660-3PH-EVKIT or TMC9660-STP-EVKIT

⚙️ Test Configuration

Each test suite supports enabling/disabling specific test categories via compile-time flags at the top of each test file:

// Enable/disable specific test categories
static constexpr bool ENABLE_CORE_TESTS = true;
static constexpr bool ENABLE_HALL_SENSOR_TESTS = true;
static constexpr bool ENABLE_ABN_ENCODER_TESTS = true;
// ... etc

Edit these flags to customize which tests run.

🔧 Troubleshooting

Common Issues

1. Communication Timeout

Symptoms: Tests fail with communication timeout errors

Solutions:

Verify all SPI/UART connections are secure
Check that GPIO pins match the configuration
Ensure proper ground connection between boards
Check power supply voltage (TMC9660 may need 12V-48V)

2. Bootloader Not Detected

Symptoms: Tests fail at bootloader initialization

Solutions:

Verify RST pin is properly connected (GPIO22)
Check that FAULTN pin is connected (GPIO19)
Try power cycling both boards
Verify SPI communication with a logic analyzer

3. Motor Not Starting

Symptoms: Motor configuration succeeds but motor doesn’t run

Solutions:

Verify DRV_EN pin is set (GPIO20)
Check motor connections (U, V, W for BLDC)
Verify current limits are set appropriately
Check that PWM frequency is configured before setting current limits
Ensure motor feedback (Hall/encoder) is properly connected if using closed-loop control

4. FAULTN Asserted

Symptoms: FAULTN pin is low (fault condition)

Solutions:

Check TMC9660 datasheet for fault conditions
Verify power supply voltage is within range
Check for overcurrent conditions
Verify motor connections are correct
Check temperature (overtemperature protection)

5. Build Errors

Symptoms: ./scripts/build_app.sh fails

Solutions:

Verify ESP-IDF is properly installed and sourced: . $IDF_PATH/export.sh
Check that all submodules are initialized: git submodule update --init --recursive
Verify script is executable: chmod +x scripts/build_app.sh
Clean build: ./scripts/clean_app.sh <app_type> <build_type> then rebuild
Verify CMake and Python versions meet requirements
Check that app name is valid: ./scripts/build_app.sh list

6. Script Not Found

Symptoms: ./scripts/build_app.sh: No such file or directory

Solutions:

Ensure you’re in the examples/esp32 directory
Verify scripts exist: ls scripts/
Make scripts executable: chmod +x scripts/*.sh
Run setup script: ./scripts/setup_repo.sh

Debugging Tips

Enable Debug Logging: The test suites enable DEBUG logging by default. Monitor serial output for detailed communication traces.
Use GPIO14 Indicator: Monitor GPIO14 with an oscilloscope to see test progression visually.
Logic Analyzer: Use a logic analyzer to monitor SPI/UART communication for detailed protocol analysis.
Oscilloscope: Monitor control pins (RST, DRV_EN, FAULTN, WAKE) to verify timing and states.

📸 Hardware Setup Photos

Add photos of your actual hardware setup here:

ESP32-C6 DevKit connected to TMC9660-3PH-EVKIT
ESP32-C6 DevKit connected to TMC9660-STP-EVKIT
Motor connections
Overall test setup

📚 Additional Resources

TMC9660 Datasheet: TMC9660.pdf
TMC9660-3PH-EVKIT User Guide: tmc9660-3ph-eval-kit-ug.pdf
TMC9660 Configuration Guide: tmc9660-configuration-and-bootstrapping.pdf
TMCL Protocol Reference: TMCL_reference_2015.pdf

📝 License

👥 Contributing

Contributions are welcome! Please see the main repository’s CONTRIBUTING.md for guidelines.

Happy Testing! 🚀

ESP32-C6 TMC9660 Comprehensive Test Suite

📋 Table of Contents

🔌 Hardware Overview

ESP32-C6 DevKit-M-1

TMC9660-3PH-EVKIT (BLDC Motor Board)

TMC9660-STP-EVKIT (Stepper Motor Board)

🔗 Pin Connections

SPI Communication Interface

UART Communication Interface (Alternative)

Power and Common

🛠️ Hardware Setup

BLDC Motor Board Setup (TMC9660-3PH-EVKIT)

Connection Diagram

Setup Steps

Stepper Motor Board Setup (TMC9660-STP-EVKIT)

Connection Diagram

Setup Steps

🏗️ Building the Tests

Prerequisites

Installation Steps

Available Test Applications

List Available Applications

Building Applications

Build Syntax

Build Examples

Build Output

Build Types

🚀 Running the Tests

Flashing and Monitoring

Flash and Monitor (Auto-detect Port)

Flash and Monitor (Specify Port)

Flash Only (No Monitor)

Monitor Only (Reconnect)

Complete Workflow Example

Expected Output

Test Progression Indicator

Available Scripts

Advanced Build Options

📊 Test Suites

BLDC Comprehensive Test (BLDCComprehensiveTest.cpp)

Stepper Comprehensive Test (StepperComprehensiveTest.cpp)

DC Motor Comprehensive Test (DCComprehensiveTest.cpp)

Telemetry Comprehensive Test (TelemetryComprehensiveTest.cpp)

Bootloader Comprehensive Test (BootloaderComprehensiveTest.cpp)

⚙️ Test Configuration

🔧 Troubleshooting

Common Issues

1. Communication Timeout

2. Bootloader Not Detected

3. Motor Not Starting

4. FAULTN Asserted

5. Build Errors

6. Script Not Found

Debugging Tips

📸 Hardware Setup Photos

📚 Additional Resources

📝 License

👥 Contributing

BLDC Comprehensive Test (`BLDCComprehensiveTest.cpp`)

Stepper Comprehensive Test (`StepperComprehensiveTest.cpp`)

DC Motor Comprehensive Test (`DCComprehensiveTest.cpp`)

Telemetry Comprehensive Test (`TelemetryComprehensiveTest.cpp`)

Bootloader Comprehensive Test (`BootloaderComprehensiveTest.cpp`)