#include <tmc2209.h>

Inheritance diagram for esphome::tmc2209::TMC2209Stepper:

Public Member Functions
void	dump_config () override

template<typename F >
void	add_on_stall_callback (F &&callback)
	Called when DIAG reports a stall. StallGuard only works in StealthChop, between TCOOLTHRS and TPWMTHRS.

void	set_stallguard_threshold (uint8_t threshold)
	A stall is reported when the StallGuard result drops below twice this value.

uint8_t	get_stallguard_threshold () const

void	set_tcool_threshold (uint32_t threshold)
	Lower velocity limit, as TSTEP, for CoolStep and the StallGuard output on DIAG.

void	set_semin (uint8_t semin)

void	set_semax (uint8_t semax)

void	set_seup (uint8_t seup)

void	set_sedn (uint8_t sedn)

void	set_seimin (bool seimin)

Public Member Functions inherited from esphome::tmc22xx::TMC22XXStepper
void	setup () override

void	loop () override

void	dump_config () override

void	on_shutdown () override

float	get_setup_priority () const override

void	set_address (uint8_t address)

void	set_enn_pin (GPIOPin *pin)

void	set_step_pin (GPIOPin *pin)

void	set_dir_pin (GPIOPin *pin)

void	set_index_pin (InternalGPIOPin *pin)

void	set_diag_pin (InternalGPIOPin *pin)

void	set_clock_frequency (uint32_t frequency)

void	set_rsense (float rsense)

void	set_vsense (bool vsense)

void	set_ottrim (uint8_t ottrim)

void	set_analog_current_scale (bool enable)

void	set_initial_run_current (float current)

void	set_initial_hold_current (float current)

void	set_initial_microsteps (uint16_t microsteps)

void	set_enabled (bool enabled)
	Enable or disable the motor outputs, using the ENN pin when configured and TOFF otherwise.

bool	is_enabled () const

bool	is_unreachable () const
	True while the driver does not answer, until the status poll reads it again (every 10 s).

template<typename F >
void	add_on_status_callback (F &&callback)
	Called with the condition and whether it became active or cleared.

void	set_microsteps (uint16_t microsteps)

uint16_t	get_microsteps ()

void	set_interpolation (bool enable)

void	set_spreadcycle (bool enable)

void	set_inverse_direction (bool inverse)

void	set_tpwm_threshold (uint32_t threshold)

void	set_run_current (float current)
	Set the motor run or hold current in A RMS.

void	set_hold_current (float current)

void	set_irun (uint8_t irun)

void	set_ihold (uint8_t ihold)

void	set_iholddelay (uint8_t delay)

void	set_tpowerdown (uint8_t tpowerdown)

void	set_standstill_mode (StandstillMode mode)

void	set_toff (uint8_t toff)
	Chopper off time (1-15). TOFF=0 is used to disable the outputs, so this is applied on the next enable.

void	set_tbl (uint8_t tbl)

void	set_hend (uint8_t hend)

void	set_hstrt (uint8_t hstrt)

void	set_pwm_ofs (uint8_t ofs)

void	set_pwm_grad (uint8_t grad)

void	set_pwm_freq (uint8_t freq)

void	set_pwm_autoscale (bool enable)

void	set_pwm_autograd (bool enable)

void	set_pwm_reg (uint8_t reg)

void	set_pwm_lim (uint8_t lim)

float	scale_to_current (uint8_t scale)
	Convert a current scale (0-31) to A RMS, without analog current scale.

bool	write_register (uint8_t reg, uint32_t value)

optional< uint32_t >	read_register (uint8_t reg)

bool	write_field (const RegisterField &field, uint32_t value)

optional< uint32_t >	read_field (const RegisterField &field)

Public Member Functions inherited from esphome::stepper::Stepper
void	set_target (int32_t steps)

void	report_position (int32_t steps)

void	set_acceleration (float acceleration)

void	set_deceleration (float deceleration)

void	set_max_speed (float max_speed)

virtual void	on_update_speed ()

bool	has_reached_target ()

Public Member Functions inherited from esphome::Component
float	get_actual_setup_priority () const

void	set_setup_priority (float priority)

void	call ()

virtual void	on_safe_shutdown ()

virtual bool	teardown ()
	Called during teardown to allow component to gracefully finish operations.

virtual void	on_powerdown ()
	Called after teardown is complete to power down hardware.

uint8_t	get_component_state () const

void	reset_to_construction_state ()
	Reset this component back to the construction state to allow setup to run again.

bool	is_in_loop_state () const
	Check if this component has completed setup and is in the loop state.

bool	is_idle () const
	Check if this component is idle.

void	mark_failed ()
	Mark this component as failed.

void	mark_failed (const LogString *message)

void	disable_loop ()
	Disable this component's loop.

void	enable_loop ()
	Enable this component's loop.

void	enable_loop_soon_any_context ()
	Thread and ISR-safe version of enable_loop() that can be called from any context.

bool	is_failed () const

bool	is_ready () const

virtual bool	can_proceed ()

bool	status_has_warning () const

bool	status_has_error () const

void	status_set_warning ()

void	status_set_warning (const char *message)

void	status_set_warning (const LogString *message)

void	status_set_error ()

void	status_set_error (const LogString *message)

void	status_clear_warning ()

void	status_clear_error ()

	ESPDEPRECATED ("Use status_momentary_warning() without a name. Removed in 2027.5.0", "2026.11.0") void status_momentary_warning(const char *name

void	status_momentary_warning (uint32_t length=5000)
	Set warning status flag and clear it after `length` ms.

void	status_momentary_warning (const LogString *message, uint32_t length=5000)

	ESPDEPRECATED ("Use status_momentary_error() without a name. Removed in 2027.5.0", "2026.11.0") void status_momentary_error(const char *name

void	status_momentary_error (uint32_t length=5000)
	Set error status flag and clear it after `length` ms.

void	status_momentary_error (const LogString *message, uint32_t length=5000)

bool	has_overridden_loop () const

const LogString *	get_component_log_str () const ESPHOME_ALWAYS_INLINE
	Get the integration where this component was declared as a LogString for logging.

bool	should_warn_of_blocking (uint32_t blocking_time, uint32_t &threshold_ms_out)

Public Member Functions inherited from esphome::uart::UARTDevice
	UARTDevice ()=default

	UARTDevice (UARTComponent *parent)

void	set_uart_parent (UARTComponent *parent)

void	write_byte (uint8_t data)

void	set_rx_full_threshold (size_t rx_full_threshold)

void	set_rx_full_threshold_ms (size_t time)

size_t	get_rx_full_threshold ()

void	set_rx_timeout (size_t rx_timeout)

size_t	get_rx_timeout ()

void	write_array (const uint8_t *data, size_t len)

void	write_array_progmem (const uint8_t *data, size_t len)

void	write_array (const std::vector< uint8_t > &data)

template<size_t N>
void	write_array (const std::array< uint8_t, N > &data)

void	write_str (const char *str)

bool	read_byte (uint8_t *data)

bool	peek_byte (uint8_t *data)

bool	read_array (uint8_t *data, size_t len)

template<size_t N>
optional< std::array< uint8_t, N > >	read_array ()

size_t	available ()

UARTFlushResult	flush ()

int	read ()

size_t	write (uint8_t data)

int	peek ()

	ESPDEPRECATED ("Use uart.final_validate_device_schema() in Python instead. Removed in 2027.3.0", "2026.9.0") void check_uart_settings(uint32_t baud_rate
	Check that the configuration of the UART bus matches the provided values and otherwise print a warning.

Protected Member Functions
uint8_t	expected_version () const override

uint32_t *	shadow_register (uint8_t reg) override

void	restore_registers () override

void	on_diag_without_error () override

Protected Member Functions inherited from esphome::tmc22xx::TMC22XXStepper
void	apply_config_ ()
	Write the settings from the configuration to the readable registers.

bool	update_status_ ()
	Read GSTAT and DRV_STATUS and report changes. Returns false when the status could not be read.

optional< uint8_t >	current_to_scale_ (float current)

float	full_scale_current_ ()

int32_t	get_vactual_ () const

int32_t	speed_to_vactual_ (float speed) const

void	add_index_pulses_ ()

void	loop_serial_ ()

void	loop_step_dir_ ()

Protected Member Functions inherited from esphome::stepper::Stepper
void	calculate_speed_ (uint32_t now)

int32_t	should_step_ ()

Protected Member Functions inherited from esphome::Component
friend	void::setup ()

friend	void::original_setup ()

void	set_component_source_ (uint8_t index)
	Set where this component was loaded from for some debug messages.

virtual void	call_setup ()

void	call_dump_config_ ()

void	enable_loop_slow_path_ ()

void	set_component_state_ (uint8_t state)
	Helper to set component state (clears state bits and sets new state)

bool	set_status_flag_ (uint8_t flag)
	Helper to set a status LED flag on both this component and the app.

bool	set_error_flag_ (const LogString *message)
	Set the error flag and log it; true when it was not set before.

void	set_interval (const char *name, uint32_t interval, std::function< void()> &&f)
	Set an interval function with a const char* name.

void	set_interval (uint32_t id, uint32_t interval, std::function< void()> &&f)
	Set an interval function with a numeric ID (zero heap allocation).

void	set_interval (InternalSchedulerID id, uint32_t interval, std::function< void()> &&f)

void	set_interval (uint32_t interval, std::function< void()> &&f)

bool	cancel_interval (const char *name)
	Cancel an interval function.

bool	cancel_interval (uint32_t id)

bool	cancel_interval (InternalSchedulerID id)

void	set_timeout (const char *name, uint32_t timeout, std::function< void()> &&f)
	Set a timeout function with a const char* name.

void	set_timeout (uint32_t id, uint32_t timeout, std::function< void()> &&f)
	Set a timeout function with a numeric ID (zero heap allocation).

void	set_timeout (InternalSchedulerID id, uint32_t timeout, std::function< void()> &&f)

void	set_timeout (uint32_t timeout, std::function< void()> &&f)

bool	cancel_timeout (const char *name)
	Cancel a timeout function.

bool	cancel_timeout (uint32_t id)

bool	cancel_timeout (InternalSchedulerID id)

void	defer (const char *name, std::function< void()> &&f)
	Defer a callback to the next loop() call with a const char* name.

void	defer (std::function< void()> &&f)
	Defer a callback to the next loop() call.

void	defer (uint32_t id, std::function< void()> &&f)
	Defer a callback with a numeric ID (zero heap allocation)

bool	cancel_defer (const char *name)
	Cancel a defer callback using the specified name, name must not be empty.

bool	cancel_defer (uint32_t id)

void	status_clear_warning_slow_path_ ()

void	status_clear_error_slow_path_ ()

Protected Attributes
LazyCallbackManager< void()>	stall_callback_

uint32_t	tcoolthrs_ {0}

uint32_t	sgthrs_ {0}

uint32_t	coolconf_ {0}

Protected Attributes inherited from esphome::tmc22xx::TMC22XXStepper
GPIOPin *	enn_pin_ {nullptr}

GPIOPin *	step_pin_ {nullptr}

GPIOPin *	dir_pin_ {nullptr}

InternalGPIOPin *	index_pin_ {nullptr}

InternalGPIOPin *	diag_pin_ {nullptr}

LazyCallbackManager< void(DriverEvent, bool)>	status_callback_

uint32_t	clock_frequency_ {12000000}

uint32_t	ihold_irun_ {0x00071703}

uint32_t	tpowerdown_ {0x14}

uint32_t	tpwmthrs_ {0}

uint32_t	vactual_reg_ {0}

std::array< uint32_t, RESTORED_REGISTERS.size()>	restored_values_ {}

float	rsense_ {NAN}

float	initial_run_current_ {NAN}

float	initial_hold_current_ {NAN}

IndexPulseStore	index_store_ {}

uint16_t	initial_microsteps_ {16}

uint16_t	status_ {0}

optional< bool >	vsense_ {}

optional< uint8_t >	ottrim_ {}

uint8_t	address_ {0}

uint8_t	toff_ {3}

uint8_t	version_ {0}

uint8_t	restored_written_ {0}

uint8_t	status_poll_skip_ {0}

int8_t	direction_ {0}

DiagPinStore	diag_store_ {}

bool	analog_current_scale_ {false}

bool	enabled_ {false}

bool	vsense_active_ {false}

bool	step_state_ {false}

bool	moving_ {false}

HighFrequencyLoopRequester	high_freq_

Protected Attributes inherited from esphome::stepper::Stepper
float	acceleration_ {1e6f}

float	deceleration_ {1e6f}

float	current_speed_ {0.0f}

float	max_speed_ {1e6f}

uint32_t	last_calculation_ {0}

uint32_t	last_step_ {0}

Protected Attributes inherited from esphome::Component
uint8_t	component_source_index_ {0}
	Index into component source PROGMEM lookup table (0 = not set)

uint8_t	warn_if_blocking_over_ {WARN_IF_BLOCKING_OVER_CS}
	Warn threshold in centiseconds (max 2550ms)

uint8_t	component_state_ {0x00}
	State of this component - each bit has a purpose: Bits 0-2: Component state (0x00=CONSTRUCTION, 0x01=SETUP, 0x02=LOOP, 0x03=FAILED, 0x04=LOOP_DONE) Bit 3: STATUS_LED_WARNING Bit 4: STATUS_LED_ERROR Bit 5: Has overridden loop() (set at registration time) Bits 6-7: Unused - reserved for future expansion.

volatile bool	pending_enable_loop_ {false}
	ISR-safe flag for enable_loop_soon_any_context.

ComponentRuntimeStats	runtime_stats_

Protected Attributes inherited from esphome::uart::UARTDevice
UARTComponent *	parent_ {nullptr}

Additional Inherited Members
Static Public Member Functions inherited from esphome::tmc22xx::TMC22XXStepper
static uint32_t	extract_field (uint32_t data, const RegisterField &field)

Data Fields inherited from esphome::stepper::Stepper
int32_t	current_position {0}

int32_t	target_position {0}

Data Fields inherited from esphome::Component
uint32_t	length = 5000)

Data Fields inherited from esphome::uart::UARTDevice
uint8_t	stop_bits = 1

uint8_t UARTParityOptions	parity = UART_CONFIG_PARITY_NONE

uint8_t UARTParityOptions uint8_t	data_bits = 8)

Detailed Description

Definition at line 24 of file tmc2209.h.

Member Function Documentation

◆ add_on_stall_callback()

template<typename F >

void esphome::tmc2209::TMC2209Stepper::add_on_stall_callback ( F && callback )

inline

Called when DIAG reports a stall. StallGuard only works in StealthChop, between TCOOLTHRS and TPWMTHRS.

Definition at line 29 of file tmc2209.h.

◆ dump_config()

void esphome::tmc2209::TMC2209Stepper::dump_config ( )

overridevirtual

Reimplemented from esphome::Component.

Definition at line 8 of file tmc2209.cpp.

◆ expected_version()

uint8_t esphome::tmc2209::TMC2209Stepper::expected_version ( ) const

inlineoverrideprotectedvirtual

Implements esphome::tmc22xx::TMC22XXStepper.

Definition at line 45 of file tmc2209.h.

◆ get_stallguard_threshold()

uint8_t esphome::tmc2209::TMC2209Stepper::get_stallguard_threshold ( ) const

inline

Definition at line 35 of file tmc2209.h.

◆ on_diag_without_error()

void esphome::tmc2209::TMC2209Stepper::on_diag_without_error ( )

inlineoverrideprotectedvirtual

Reimplemented from esphome::tmc22xx::TMC22XXStepper.

Definition at line 48 of file tmc2209.h.

◆ restore_registers()

void esphome::tmc2209::TMC2209Stepper::restore_registers ( )

overrideprotectedvirtual

Reimplemented from esphome::tmc22xx::TMC22XXStepper.

Definition at line 26 of file tmc2209.cpp.

◆ set_sedn()

void esphome::tmc2209::TMC2209Stepper::set_sedn ( uint8_t sedn )

inline

Definition at line 41 of file tmc2209.h.

◆ set_seimin()

void esphome::tmc2209::TMC2209Stepper::set_seimin ( bool seimin )

inline

Definition at line 42 of file tmc2209.h.

◆ set_semax()

void esphome::tmc2209::TMC2209Stepper::set_semax ( uint8_t semax )

inline

Definition at line 39 of file tmc2209.h.

◆ set_semin()

void esphome::tmc2209::TMC2209Stepper::set_semin ( uint8_t semin )

inline

Definition at line 38 of file tmc2209.h.

◆ set_seup()

void esphome::tmc2209::TMC2209Stepper::set_seup ( uint8_t seup )

inline

Definition at line 40 of file tmc2209.h.

◆ set_stallguard_threshold()

void esphome::tmc2209::TMC2209Stepper::set_stallguard_threshold ( uint8_t threshold )

inline

A stall is reported when the StallGuard result drops below twice this value.

Definition at line 34 of file tmc2209.h.

◆ set_tcool_threshold()

void esphome::tmc2209::TMC2209Stepper::set_tcool_threshold ( uint32_t threshold )

inline

Lower velocity limit, as TSTEP, for CoolStep and the StallGuard output on DIAG.

Definition at line 37 of file tmc2209.h.

◆ shadow_register()

uint32_t * esphome::tmc2209::TMC2209Stepper::shadow_register ( uint8_t reg )

overrideprotectedvirtual

Reimplemented from esphome::tmc22xx::TMC22XXStepper.

Definition at line 13 of file tmc2209.cpp.

Field Documentation

◆ coolconf_

uint32_t esphome::tmc2209::TMC2209Stepper::coolconf_ {0}

protected

Definition at line 54 of file tmc2209.h.

◆ sgthrs_

uint32_t esphome::tmc2209::TMC2209Stepper::sgthrs_ {0}

protected

Definition at line 53 of file tmc2209.h.

◆ stall_callback_

LazyCallbackManager<void()> esphome::tmc2209::TMC2209Stepper::stall_callback_

protected

Definition at line 50 of file tmc2209.h.

◆ tcoolthrs_

uint32_t esphome::tmc2209::TMC2209Stepper::tcoolthrs_ {0}

protected

Definition at line 52 of file tmc2209.h.

The documentation for this class was generated from the following files:

esphome/components/tmc2209/tmc2209.h
esphome/components/tmc2209/tmc2209.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ add_on_stall_callback()

◆ dump_config()

◆ expected_version()

◆ get_stallguard_threshold()

◆ on_diag_without_error()

◆ restore_registers()

◆ set_sedn()

◆ set_seimin()

◆ set_semax()

◆ set_semin()

◆ set_seup()

◆ set_stallguard_threshold()

◆ set_tcool_threshold()

◆ shadow_register()

Field Documentation

◆ coolconf_

◆ sgthrs_

◆ stall_callback_

◆ tcoolthrs_