Modify code to support up to 4 TMC2209 motor drivers on a single UART pin

README.md

@@ -1,12 +1,29 @@
 # TMC_2209_ESP32 and Micropython
 This is a libary to drive a stepper motor with a TMC2209 stepper driver and a LOLIN32 V1.0.0 ESP32 Board
 
-This is a clone off the great work from Chr157i4n, thank you for the time you spend !
-https://github.com/Chr157i4n/TMC2209_Raspberry_Pi
+This is a clone off the great work from Chr157i4n, thank you for the time you spent https://github.com/Chr157i4n/TMC2209_Raspberry_Pi, and a fork of https://github.com/kjk25/TMC2209_ESP32.
 
-This code is still experimental, so use it on your own risk.
-i have not tested all functions, hope its a start for others.
 
+This fork supports multiple TMC2209 motor drivers by using the address pins on the motor driver. 
+
+The datasheet is here: https://www.analog.com/media/en/technical-documentation/data-sheets/TMC2209_datasheet_rev1.08.pdf
+
+![](images/tmc2209_datasheet_UART.png)
+
+I had trouble initially understanding this, but eventually I got it. This code helped https://github.com/anonymousaga/TMC2209_RPI_PICO
+
+If you wire your UART TX to both UART pins on the two TMC2209 controllers, then you can change the address of each by wiring MS1 and/or MS2 to Vccio (your board power pin, NOT THE MOTOR PIN). The two pins form a binary address.
 
 
-![](images/photo_2021-09-18_11-49-04.jpg)
+| MS2 | MS1 | Address |
+|-----|-----|--------|
+|  0  |  0  |    0   |
+|  0  |  1  |    1   |
+|  1  |  0  |    2   |
+|  1  |  1  |    3   |
+
+
+This code is still experimental, so use it on your own risk.
+i have not tested all functions, hope its a start for others.
+
+![](images/IMG_2425.png)

test_script_01_uart_connection motor 2.py

@@ -0,0 +1,83 @@
+import sys
+from tmc.TMC_2209_StepperDriver import *
+import time
+
+
+print("---")
+print("SCRIPT START")
+print("---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# initiate the TMC_2209 class
+# use your pins for pin_step, pin_dir, pin_en here
+#-----------------------------------------------------------------------
+print("INIT START")
+tmc = TMC_2209(22, 23, 0, 2)
+print("INIT COMPLETE")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# set the loglevel of the libary (currently only printed)
+# set whether the movement should be relative or absolute
+# both optional
+#-----------------------------------------------------------------------
+tmc.setLoglevel(Loglevel.info)
+tmc.setMovementAbsRel(MovementAbsRel.absolute)
+
+
+
+
+
+#-----------------------------------------------------------------------
+# these functions change settings in the TMC register
+#-----------------------------------------------------------------------
+tmc.setDirection_reg(False)
+tmc.setVSense(True)
+tmc.setCurrent(300)
+tmc.setIScaleAnalog(True)
+tmc.setInterpolation(True)
+tmc.setSpreadCycle(False)
+tmc.setMicrosteppingResolution(2)
+tmc.setInternalRSense(False)
+
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# these functions read and print the current settings in the TMC register
+#-----------------------------------------------------------------------
+tmc.readIOIN()
+tmc.readCHOPCONF()
+tmc.readDRVSTATUS()
+tmc.readGCONF()
+
+print("---\n---")
+
+
+
+#-----------------------------------------------------------------------
+# deactivate the motor current output
+#-----------------------------------------------------------------------
+tmc.setMotorEnabled(False)
+
+print("---\n---")
+
+#-----------------------------------------------------------------------
+# deinitiate the TMC_2209 class
+#-----------------------------------------------------------------------
+del tmc
+
+print("---")
+print("SCRIPT FINISHED")
+print("---")

test_script_01_uart_connection.py

@@ -15,7 +15,7 @@
 # initiate the TMC_2209 class
 # use your pins for pin_step, pin_dir, pin_en here
 #-----------------------------------------------------------------------
-tmc = TMC_2209(27, 14, 26)
+tmc = TMC_2209(18, 19, 0) # you can populate pin_en, but I just tied it to ground
 
 
 

test_script_02_pin_connection motor 2.py

@@ -0,0 +1,84 @@
+from tmc.TMC_2209_StepperDriver import *
+import time
+
+
+print("---")
+print("SCRIPT START")
+print("---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# initiate the TMC_2209 class
+# use your pins for pin_step, pin_dir, pin_en here
+#-----------------------------------------------------------------------
+tmc = TMC_2209(22, 23, 0, 2)
+
+
+
+
+
+#-----------------------------------------------------------------------
+# set the loglevel of the libary (currently only printed)
+# set whether the movement should be relative or absolute
+# both optional
+#-----------------------------------------------------------------------
+tmc.setLoglevel(Loglevel.debug)
+tmc.setMovementAbsRel(MovementAbsRel.absolute)
+
+
+
+
+
+#-----------------------------------------------------------------------
+# these functions change settings in the TMC register
+#-----------------------------------------------------------------------
+tmc.setDirection_reg(False)
+tmc.setVSense(True)
+tmc.setCurrent(300)
+tmc.setIScaleAnalog(True)
+tmc.setInterpolation(True)
+tmc.setSpreadCycle(False)
+tmc.setMicrosteppingResolution(2)
+tmc.setInternalRSense(False)
+
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# this function test whether the connection of the DIR, STEP and EN pin
+# between Raspberry Pi and TMC driver is working
+#-----------------------------------------------------------------------
+tmc.testDirStepEn()
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# deactivate the motor current output
+#-----------------------------------------------------------------------
+tmc.setMotorEnabled(False)
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# deinitiate the TMC_2209 class
+#-----------------------------------------------------------------------
+del tmc
+
+print("---")
+print("SCRIPT FINISHED")
+print("---")

test_script_02_pin_connection.py

@@ -14,7 +14,7 @@
 # initiate the TMC_2209 class
 # use your pins for pin_step, pin_dir, pin_en here
 #-----------------------------------------------------------------------
-tmc = TMC_2209(27, 14, 26)
+tmc = TMC_2209(18, 19, 0) # you can populate pin_en, but I just tied it to ground
 
 
 

test_script_03_basic_movement motor 2.py

@@ -0,0 +1,123 @@
+from tmc.TMC_2209_StepperDriver import *
+import time
+
+
+print("---")
+print("SCRIPT START")
+print("---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# initiate the TMC_2209 class
+# use your pins for pin_step, pin_dir, pin_en here
+#-----------------------------------------------------------------------
+tmc = TMC_2209(22, 23, 0, 2)
+
+
+
+
+
+#-----------------------------------------------------------------------
+# set the loglevel of the libary (currently only printed)
+# set whether the movement should be relative or absolute
+# both optional
+#-----------------------------------------------------------------------
+tmc.setLoglevel(Loglevel.debug)
+tmc.setMovementAbsRel(MovementAbsRel.relative)
+
+
+
+
+
+#-----------------------------------------------------------------------
+# these functions change settings in the TMC register
+#-----------------------------------------------------------------------
+tmc.setDirection_reg(False)
+tmc.setVSense(True)
+tmc.setCurrent(200)
+tmc.setIScaleAnalog(True)
+tmc.setInterpolation(True)
+tmc.setSpreadCycle(False)
+tmc.setMicrosteppingResolution(1)
+tmc.setInternalRSense(False)
+
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# these functions read and print the current settings in the TMC register
+#-----------------------------------------------------------------------
+#tmc.readIOIN()
+#tmc.readCHOPCONF()
+#tmc.readDRVSTATUS()
+#tmc.readGCONF()
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# set the Accerleration and maximal Speed
+#-----------------------------------------------------------------------
+tmc.setAcceleration(2000)
+tmc.setMaxSpeed(500)
+
+
+
+
+
+#-----------------------------------------------------------------------
+# activate the motor current output
+#-----------------------------------------------------------------------
+tmc.setMotorEnabled(True)
+
+
+
+
+
+#-----------------------------------------------------------------------
+# move the motor 1 revolution
+#-----------------------------------------------------------------------
+tmc.runToPositionSteps(800)                             #move to position 400
+tmc.runToPositionSteps(0)                               #move to position 0
+
+
+tmc.runToPositionSteps(1000, MovementAbsRel.relative)    #move 400 steps forward
+tmc.runToPositionSteps(-600, MovementAbsRel.relative)   #move 400 steps backward
+
+
+tmc.runToPositionSteps(400)                             #move to position 400
+tmc.runToPositionSteps(0)                               #move to position 0
+
+
+
+
+
+#-----------------------------------------------------------------------
+# deactivate the motor current output
+#-----------------------------------------------------------------------
+tmc.setMotorEnabled(False)
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# deinitiate the TMC_2209 class
+#-----------------------------------------------------------------------
+del tmc
+
+print("---")
+print("SCRIPT FINISHED")
+print("---")

test_script_03_basic_movement.py

@@ -14,7 +14,7 @@
 # initiate the TMC_2209 class
 # use your pins for pin_step, pin_dir, pin_en here
 #-----------------------------------------------------------------------
-tmc = TMC_2209(27, 14, 26)
+tmc = TMC_2209(18, 19, 0) # you can populate pin_en, but I just tied it to ground