Important
Breaking changes! Ignore this part if you don't have a setup yet or want to use the new improved version.
Append #0035ce5 (commit hash) to source if you wish to continue with the previous version. The rest can remain as is.
external_components:
- source: github://slimcdk/esphome-custom-components#0035ce5 # <- include '#0035ce5'
components: ...Breaking changes are mainly fixes to speed, better handling for step/dir control and new splitted structure for configuration options.
ESPHome component to interact with a TMC2209 stepper motor driver over UART and regular step/dir.
Important
Only a single tmc2209 instance (device) per UART config is currently supported by ESPHome. Multiple drivers require multiple UART connections.
This project includes code from the Analog Devices Inc. TMC-API codebase, licensed under the MIT License.
Copyright (c) 2023 Analog Devices, Inc.
Import the component(s).
external_components:
- source: github://slimcdk/esphome-custom-components
components: [ tmc2209, stepper ]Configuration of UART Bus.
uart:
tx_pin: REPLACEME
rx_pin: REPLACEME
baud_rate: 500000 # 9600 -> 500kbaud_rate(Required, int): The baud rate of the UART bus. TMC2209 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.
Caution
A lot is happening over serial and low baud rates might cause warnings about the component taking too long. Use something like 115200 or higher.
-
tx_pin(Optional, Output Pin Schema): This is the ESPHome device's transmit pin. This should be connected through a 1k Ohm resistor toPDN_UARTon the TMC2209. -
rx_pin(Optional, Input Pin Schema): This is the ESPHome device's receive pin. This should be connected directly toPDN_UARTon the TMC2209.
Note
Avoid selecting a UART which is utilized for other purposes. For instance boot log as the TMC2209 will try to interpret the output.
The stepper can be controlled in two ways. See section 1.3 for technical information.
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.
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: tmc2209
id: driver
max_speed: 500 steps/s
acceleration: 2500 steps/s^2
deceleration: 2500 steps/s^2
address: 0x00
enn_pin: REPLACEME
diag_pin: REPLACEME
index_pin: REPLACEME
step_pin: REPLACEME
dir_pin: REPLACEME
rsense: REPLACEME
vsense: False
ottrim: 0
clock_frequency: 12MHz-
id(Required, ID): Specify the ID of the stepper so that you can control it. -
address(Optional, hex): UART address of the IC. Configured by setting MS1_AD0 or MS2_AD1 high or low. Default is0x00. -
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): Driver 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 ifstep_pinanddir_pinis 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_scale(Optional, boolean): Determines the VREF mode. Defaults toTrue. -
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
Will trigger when a stall is detected. This can be used for sensorless homing. Check the sensorless homing example*.
stepper:
- platform: tmc2209
id: driver
...
on_stall:
- logger.log: "Motor stalled!"
- stepper.stop: driverImportant
Incorrect motor parameters and motion jolt/jerk (quick acceleration/deceleration changes) can lead to false stall events. Play around with the parameters for your specific application.
An event is fired whenever a driver warning or error is detected. For instance when the driver overheats.
stepper:
- platform: tmc2209
id: driver
...
on_status:
- if:
condition:
lambda: return code == tmc2209::OVERTEMPERATURE_PREWARNING;
then:
- logger.log: "Driver is about to overheat"All events in an example config for easy copy/paste
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_CLEAREDDIAG output is triggered. Primarily driver errors, but also stall event.RESET|RESET_CLEAREDDriver has been reset since last power on.DRIVER_ERROR|DRIVER_ERROR_CLEAREDA driver error was detected.CP_UNDERVOLTAGE|CP_UNDERVOLTAGE_CLEAREDUndervoltage on chargepump input.OVERTEMPERATURE_PREWARNING|OVERTEMPERATURE_PREWARNING_CLEAREDDriver is warning about increasing temperature.OVERTEMPERATURE|OVERTEMPERATURE_CLEAREDDriver is at critical high temperature and is shutting down.TEMPERATURE_ABOVE_120C|TEMPERATURE_BELOW_120CTemperature is higher or lower than 120C.TEMPERATURE_ABOVE_143C|TEMPERATURE_BELOW_143CTemperature is higher or lower than 143C.TEMPERATURE_ABOVE_150C|TEMPERATURE_BELOW_150CTemperature is higher or lower than 150C.TEMPERATURE_ABOVE_157C|TEMPERATURE_BELOW_157CTemperature is higher or lower than 157C.OPEN_LOAD|OPEN_LOAD_CLEAREDOpen load indicator.OPEN_LOAD_A|OPEN_LOAD_A_CLEAREDOpen load indicator phase A.OPEN_LOAD_B|OPEN_LOAD_B_CLEAREDOpen load indicator phase B.LOW_SIDE_SHORT|LOW_SIDE_SHORT_CLEAREDLow side short indicator.LOW_SIDE_SHORT_A|LOW_SIDE_SHORT_A_CLEAREDLow side short indicator phase A.LOW_SIDE_SHORT_B|LOW_SIDE_SHORT_B_CLEAREDLow side short indicator phase B.GROUND_SHORT|GROUND_SHORT_CLEAREDShort to ground indicator.GROUND_SHORT_A|GROUND_SHORT_A_CLEAREDShort to ground indicator phase A.GROUND_SHORT_B|GROUND_SHORT_B_CLEAREDShort to ground indicator phase B.
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.
Example of configuring the driver. For instance on boot.
on_...:
- tmc2209.configure:
direction: REPLACEME
microsteps: REPLACME
interpolation: REPLACEME
enable_spreadcycle: REPLACEME
tcool_threshold: REPLACEME
tpwm_threshold: REPLACEME-
id(Required, ID): Reference to the stepper tmc2209 component. Can be left out if only a single TMC2209 is configured. -
direction(Optional, string, templatable): Effectively inverse the rotational direction. Options areclockwiseorcounterclockwiseand their abbreviationscworcww. -
microsteps(Optional, int, templatable): Microstepping. Possible values are1,2,4,8,16,32,64,128,256. -
interpolation(Optional, bool, templatable): The actual microstep resolution (MRES) becomes extrapolated to 256 microsteps for the smoothest motor operation. -
enable_spreadcycle(Optional, bool, templatable):Truecompletely disables StealthChop and only uses SpreadCycle,Falseallows use of StealthChop. Defaults to OTP. -
tcool_threshold(Optional, int): Sets TCOOLTHRS -
tpwm_threshold(Optional, int): Sets TPWMTHRS
Example of configuring currents and standstill mode.
on_...:
- tmc2209.currents:
standstill_mode: freewheeling
irun: 16
ihold: 0
tpowerdown: 0
iholddelay: 0
run_current: 800m
hold_current: 0mA-
id(Required, ID): Reference to the stepper tmc2209 component. Can be left out if only a single TMC2209 is configured. -
standstill_mode(Optional, templatable): Standstill mode for when movement stops. Default is OTP. Available modes are:normal: Actively breaks the motor.freewheeling:iholdand/orhold_currentmust be 0 for true freewheeling. Higher IHOLD enforces high currents thus harder braking effect.short_coil_ls: Similar tofreewheeling, but with motor coils shorted to low side voltage.short_coil_hs: Similar tofreewheeling, 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
Example of configuring StallGuard.
on_...:
- tmc2209.stallguard:
threshold: 50-
id(Required, ID): Reference to the stepper tmc2209 component. Can be left out if only a single TMC2209 is configured. -
threshold(Optional, int, templatable): Sets SGTHRS. Value for the StallGuard4 threshold.
on_...:
- tmc2209.coolconf:
seimin: REPLACEME
semax: REPLACEME
semin: REPLACEME
sedn: REPLACEME
seup: REPLACEME-
id(Required, ID): Reference to the stepper tmc2209 component. Can be left out if only a single TMC2209 is configured. -
seimin(Optional, int): Sets SEIMIN -
semax(Optional, int): Sets SEMAX -
semin(Optional, int): Sets SEMIN -
sedn(Optional, int): Sets SEDN -
seup(Optional, int): Sets SEUP
on_...:
- tmc2209.chopconf:
tbl: REPLACEME
hend: REPLACEME
hstrt: REPLACEME-
id(Required, ID): Reference to the stepper tmc2209 component. Can be left out if only a single TMC2209 is configured. -
tbl(Optional, int): Sets CHOPCONF TBL -
hend(Optional, int): Sets CHOPCONF HEND -
hstrt(Optional, int): Sets CHOPCONF HSTRT
on_...:
- tmc2209.pwmconf:
lim: REPLACEME
reg: REPLACEME
freq: REPLACEME
ofs: REPLACEME
autograd: REPLACEME
autoscale: REPLACEME-
id(Required, ID): Reference to the stepper tmc2209 component. Can be left out if only a single TMC2209 is configured. -
lim(Optional, int): Sets PWMCONF PWM_LIM -
reg(Optional, int): Sets PWMCONF PWM_REG -
freq(Optional, int): Sets PWMCONF PWM_FREQ -
ofs(Optional, int): Sets PWMCONF PWM_OFS -
autograd(Optional, boolean): Sets PWMCONF PWM_AUTOGRAD -
autoscale(Optional, boolean): Sets PWMCONF PWM_AUTOSCALE
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_...:
- tmc2209.enable: driverid(Required, ID): Reference to the stepper tmc2209 component. Can be left out if only a single TMC2209 is configured.
This uses TOFF (sets to 0) if enn_pin is not set to disable the driver. This will also trigger stepper.stop.
on_...:
- tmc2209.disable: driverid(Required, ID): Reference to the stepper tmc2209 component. Can be left out if only a single TMC2209 is configured.
Some metrics from the driver is exposed as a ready-to-use sensor component.
sensor:
- platform: tmc2209
type: stallguard_result
name: Driver stallguard
update_interval: 250ms
- platform: tmc2209
type: motor_load
name: Motor load
update_interval: 250ms
- platform: tmc2209
type: actual_current
name: Actual current
update_interval: 250ms
- platform: tmc2209
type: pwm_scale_sum
name: PWM Scale Sum
update_interval: 250ms
- platform: tmc2209
type: pwm_scale_auto
name: PWM Scale Auto
update_interval: 250ms
- platform: tmc2209
type: pwm_ofs_auto
name: PWM OFS Auto
update_interval: 250ms
- platform: tmc2209
type: pwm_grad_auto
name: PWM Grad Auto
update_interval: 250ms-
tmc2209_id(Optional, ID): Manually specify the ID of thestepper.tmc2209you want to use this sensor. -
type(Required):stallguard_resultStator angle shift detected by the driver.motor_loadPercentage off stall calculated from StallGuard result and set StallGuard threshold. 100% = stalled.- Remeber to configure StallGuard threshold for this to work reliably.
- The load is calculated by. 510 - SG_RESULT / 510 - SGTHRS * 2 = load coefficient.
actual_currentActive current setting. Either IRUN or IHOLD value.pwm_scale_sumActual PWM duty cycle. This value is used for scaling the values CUR_A and CUR_B read from the sine wave table.pwm_scale_auto9 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_autoAutomatically determined offset value.pwm_grad_autoAutomatically determined gradient value.
-
All other from Sensor
Example config with logic of "homing" the motor against a mechanical hard-stop.
esphome:
...
on_boot:
- button.press: home # home right after boot
globals:
- id: has_homed
type: bool
initial_value: "true"
restore_value: no
stepper:
- platform: tmc2209
id: driver
...
on_stall:
- logger.log: "Motor stalled!"
- stepper.stop: driver
- if:
condition:
lambda: return !id(has_homed);
then:
- stepper.report_position:
id: driver
position: 0
- globals.set:
id: has_homed
value: "true"
- logger.log: "Home position set"
button:
- platform: template
name: Home
on_press:
- logger.log: "Going home!"
- globals.set:
id: has_homed
value: "false"
- stepper.set_target:
id: driver
target: -9999999Example of monitoring motor load. It is possible, but not advised.
sensor:
- platform: tmc2209
type: motor_load
internal: true
update_interval: 0s
filters:
- sliding_window_moving_average:
window_size: 10
send_every: 10
on_value_range:
- above: 100.0
then:
- stepper.stop: driverexternal_components:
- source: github://slimcdk/esphome-custom-components
components: [ tmc2209, stepper ]
# esp32 or esp8266 config..
wifi:
ssid: !secret WIFI_SSID
password: !secret WIFI_PASSWORD
esphome:
name: actuator
on_boot:
- tmc2209.configure:
microsteps: 8
interpolation: true
- tmc2209.stallguard:
threshold: 50
- tmc2209.currents:
standstill_mode: freewheeling
irun: 16
ihold: 0
tpowerdown: 0
iholddelay: 0
uart:
tx_pin: 16
rx_pin: 17
baud_rate: 500000
stepper:
- platform: tmc2209
id: driver
max_speed: 900 steps/s
acceleration: 1500 steps/s^2
deceleration: 500 steps/s^2
rsense: 110 mOhm
vsense: False
index_pin: 42
diag_pin: 41
on_stall:
- logger.log: "Motor stalled!"
- stepper.stop: driver
button:
- platform: template
name: Stop
on_press:
- stepper.stop: driver
- platform: template
name: 1000 Steps forward
on_press:
- stepper.set_target:
id: driver
target: !lambda return id(driver)->current_position +1000;
- platform: template
name: 1000 Steps backward
on_press:
- stepper.set_target:
id: driver
target: !lambda return id(driver)->current_position -1000;
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;"
sensor:
- platform: tmc2209
type: motor_load
name: Motor load
update_interval: 250msOutput of above configuration. Registers could differ due to OTP.
...
[00:00:00][C][tmc2209:011]: TMC2209 Stepper:
[00:00:00][C][tmc2209:014]: Control: serial
[00:00:00][C][tmc2209:021]: ENN Pin: GPIO21
[00:00:00][C][tmc2209:021]: DIAG Pin: GPIO16
[00:00:00][C][tmc2209:021]: INDEX Pin: GPIO11
[00:00:00][C][tmc2209:022]: Address: 0x00
[00:00:00][C][tmc2209:023]: Detected IC version: 0x21
[00:00:00][C][tmc2209:025]: Microsteps: 8
[00:00:00][C][tmc2209:026]: Clock frequency: 12000000 Hz
[00:00:00][C][tmc2209:027]: Velocity compensation: 0.715256
[00:00:00][C][tmc2209:029]: Overtemperature: prewarning = 120C | shutdown = 143C
[00:00:00][C][tmc2209:031]: Acceleration: 1500 steps/s^2
[00:00:00][C][tmc2209:031]: Deceleration: 500 steps/s^2
[00:00:00][C][tmc2209:031]: Max Speed: 900 steps/s
[00:00:00][C][tmc2209:033]: Analog Scale: VREF is connected
[00:00:00][C][tmc2209:033]: Currents:
[00:00:00][C][tmc2209:033]: IRUN: 16 (939 mA)
[00:00:00][C][tmc2209:033]: IHOLD: 0 (0 mA)
[00:00:00][C][tmc2209:033]: Limits: 1767 mA
[00:00:00][C][tmc2209:033]: VSense: False (high heat dissipation)
[00:00:00][C][tmc2209:033]: RSense: 0.110 Ohm (external sense resistors)
[00:00:00][C][tmc2209:034]: Register dump:
[00:00:00][C][tmc2209:034]: GCONF: 0x000001E0
[00:00:00][C][tmc2209:034]: GSTAT: 0x00000001
[00:00:00][C][tmc2209:034]: IFCNT: 0x00000027
[00:00:00][C][tmc2209:034]: SLAVECONF: 0xA5A5A5A5
[00:00:00][C][tmc2209:034]: OTP_PROG: 0xA5A5A5A5
[00:00:00][C][tmc2209:034]: OTP_READ: 0x0000000F
[00:00:00][C][tmc2209:034]: IOIN: 0x21000040
[00:00:00][C][tmc2209:034]: FACTORY_CONF: 0x0000000F
[00:00:00][C][tmc2209:034]: IHOLD_IRUN: 0xA5A0B0A0
[00:00:00][C][tmc2209:034]: TPOWERDOWN: 0xA5A5A500
[00:00:00][C][tmc2209:034]: TSTEP: 0x000FFFFF
[00:00:00][C][tmc2209:034]: TPWMTHRS: 0xA5A5A5A5
[00:00:00][C][tmc2209:034]: TCOOLTHRS: 0xA5A5A5A5
[00:00:00][C][tmc2209:034]: VACTUAL: 0xA5000000
[00:00:00][C][tmc2209:034]: SGTHRS: 0x00000032
[00:00:00][C][tmc2209:034]: SG_RESULT: 0x00000000
[00:00:00][C][tmc2209:034]: COOLCONF: 0xA5A5A5A5
[00:00:00][C][tmc2209:034]: MSCNT: 0x00000030
[00:00:00][C][tmc2209:034]: MSCURACT: 0x00EC0048
[00:00:00][C][tmc2209:034]: CHOPCONF: 0x15010053
[00:00:00][C][tmc2209:034]: DRV_STATUS: 0xC0000040
[00:00:00][C][tmc2209:034]: PWMCONF: 0xC81D0E24
[00:00:00][C][tmc2209:034]: PWMSCALE: 0x00750078
[00:00:00][C][tmc2209:034]: PWM_AUTO: 0x000E007B
...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 tmc2209 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 tmc2209 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_FIELDTOFF_FIELDVSENSE_FIELDDEDGE_FIELDINDEX_OTPW_FIELDINDEX_STEP_FIELDMULTISTEP_FILT_FIELDPDN_DISABLE_FIELDINTERNAL_RSENSE_FIELDI_SCALE_ANALOG_FIELDTEST_MODE_FIELD
Example usage in lambdas
sensor:
// Read stallguard result (register) into a sensor
- platform: template
name: Stallguard result
lambda: return id(driver)->read_register(SG_RESULT);
// 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);
number:
// Write value to stallguard threshold register
- platform: template
name: Stallguard threshold
update_interval: 1s
min_value: 0
max_value: 255
step: 5
lambda: return id(driver)->read_register(SGTHRS);
set_action:
- lambda: id(driver)->write_register(SGTHRS, x);
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);
Guides to wire ESPHome supported MCU to a TMC2209 driver for either only UART control or pulse control.
Wiring for UART 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.
Article by Bernhard Dwersteg
https://www.analog.com/en/resources/app-notes/an-001.html
Article by Bernhard Dwersteg
https://www.analog.com/en/resources/app-notes/an-002.html
https://docs.duet3d.com/User_manual/Connecting_hardware/Motors_choosing
- https://www.analog.com/en/products/tmc2209.html
- https://www.programming-electronics-diy.xyz/2023/12/tmc2209-stepper-driver-module-tutorial.html
- 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.
First generation of TMC2209s have version 0x21. 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.
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.
Long wires connected to ENN might pick up interference causing the driver to make a sizzling noise if left floating.
Source code for components aren't fully loading when adding additional components on ESP-IDF framework with an existing compiled binary. For instance the motor_load sensor. Solution is to do a clean build.
- 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.
All status events configured for easy copy-pasta.
stepper:
- platform: tmc2209
id: driver
...
on_status:
- logger.log:
format: "Driver is reporting an update! (code %d)"
args: ["code"]
- if:
condition:
lambda: return code == tmc2209::DIAG_TRIGGERED;
then:
- logger.log: DIAG_TRIGGERED
- if:
condition:
lambda: return code == tmc2209::DIAG_TRIGGER_CLEARED;
then:
- logger.log: DIAG_TRIGGER_CLEARED
- if:
condition:
lambda: return code == tmc2209::RESET;
then:
- logger.log: RESET
- if:
condition:
lambda: return code == tmc2209::RESET_CLEARED;
then:
- logger.log: RESET_CLEARED
- if:
condition:
lambda: return code == tmc2209::DRIVER_ERROR;
then:
- logger.log: DRIVER_ERROR
- if:
condition:
lambda: return code == tmc2209::DRIVER_ERROR_CLEARED;
then:
- logger.log: DRIVER_ERROR_CLEARED
- if:
condition:
lambda: return code == tmc2209::CP_UNDERVOLTAGE;
then:
- logger.log: CP_UNDERVOLTAGE
- if:
condition:
lambda: return code == tmc2209::CP_UNDERVOLTAGE_CLEARED;
then:
- logger.log: CP_UNDERVOLTAGE_CLEARED
- if:
condition:
lambda: return code == tmc2209::OVERTEMPERATURE_PREWARNING;
then:
- logger.log: OVERTEMPERATURE_PREWARNING
- if:
condition:
lambda: return code == tmc2209::OVERTEMPERATURE_PREWARNING_CLEARED;
then:
- logger.log: OVERTEMPERATURE_PREWARNING_CLEARED
- if:
condition:
lambda: return code == tmc2209::OVERTEMPERATURE;
then:
- logger.log: OVERTEMPERATURE
- if:
condition:
lambda: return code == tmc2209::OVERTEMPERATURE_CLEARED;
then:
- logger.log: OVERTEMPERATURE_CLEARED
- if:
condition:
lambda: return code == tmc2209::TEMPERATURE_ABOVE_120C;
then:
- logger.log: TEMPERATURE_ABOVE_120C
- if:
condition:
lambda: return code == tmc2209::TEMPERATURE_BELOW_120C;
then:
- logger.log: TEMPERATURE_BELOW_120C
- if:
condition:
lambda: return code == tmc2209::TEMPERATURE_ABOVE_143C;
then:
- logger.log: TEMPERATURE_ABOVE_143C
- if:
condition:
lambda: return code == tmc2209::TEMPERATURE_BELOW_143C;
then:
- logger.log: TEMPERATURE_BELOW_143C
- if:
condition:
lambda: return code == tmc2209::TEMPERATURE_ABOVE_150C;
then:
- logger.log: TEMPERATURE_ABOVE_150C
- if:
condition:
lambda: return code == tmc2209::TEMPERATURE_BELOW_150C;
then:
- logger.log: TEMPERATURE_BELOW_150C
- if:
condition:
lambda: return code == tmc2209::TEMPERATURE_ABOVE_157C;
then:
- logger.log: TEMPERATURE_ABOVE_157C
- if:
condition:
lambda: return code == tmc2209::TEMPERATURE_BELOW_157C;
then:
- logger.log: TEMPERATURE_BELOW_157C
- if:
condition:
lambda: return code == tmc2209::OPEN_LOAD;
then:
- logger.log: OPEN_LOAD
- if:
condition:
lambda: return code == tmc2209::OPEN_LOAD_CLEARED;
then:
- logger.log: OPEN_LOAD_CLEARED
- if:
condition:
lambda: return code == tmc2209::OPEN_LOAD_A;
then:
- logger.log: OPEN_LOAD_A
- if:
condition:
lambda: return code == tmc2209::OPEN_LOAD_A_CLEARED;
then:
- logger.log: OPEN_LOAD_A_CLEARED
- if:
condition:
lambda: return code == tmc2209::OPEN_LOAD_B;
then:
- logger.log: OPEN_LOAD_B
- if:
condition:
lambda: return code == tmc2209::OPEN_LOAD_B_CLEARED;
then:
- logger.log: OPEN_LOAD_B_CLEARED
- if:
condition:
lambda: return code == tmc2209::LOW_SIDE_SHORT;
then:
- logger.log: LOW_SIDE_SHORT
- if:
condition:
lambda: return code == tmc2209::LOW_SIDE_SHORT_CLEARED;
then:
- logger.log: LOW_SIDE_SHORT_CLEARED
- if:
condition:
lambda: return code == tmc2209::LOW_SIDE_SHORT_A;
then:
- logger.log: LOW_SIDE_SHORT_A
- if:
condition:
lambda: return code == tmc2209::LOW_SIDE_SHORT_A_CLEARED;
then:
- logger.log: LOW_SIDE_SHORT_A_CLEARED
- if:
condition:
lambda: return code == tmc2209::LOW_SIDE_SHORT_B;
then:
- logger.log: LOW_SIDE_SHORT_B
- if:
condition:
lambda: return code == tmc2209::LOW_SIDE_SHORT_B_CLEARED;
then:
- logger.log: LOW_SIDE_SHORT_B_CLEARED
- if:
condition:
lambda: return code == tmc2209::GROUND_SHORT;
then:
- logger.log: GROUND_SHORT
- if:
condition:
lambda: return code == tmc2209::GROUND_SHORT_CLEARED;
then:
- logger.log: GROUND_SHORT_CLEARED
- if:
condition:
lambda: return code == tmc2209::GROUND_SHORT_A;
then:
- logger.log: GROUND_SHORT_A
- if:
condition:
lambda: return code == tmc2209::GROUND_SHORT_A_CLEARED;
then:
- logger.log: GROUND_SHORT_A_CLEARED
- if:
condition:
lambda: return code == tmc2209::GROUND_SHORT_B;
then:
- logger.log: GROUND_SHORT_B
- if:
condition:
lambda: return code == tmc2209::GROUND_SHORT_B_CLEARED;
then:
- logger.log: GROUND_SHORT_B_CLEARED