Control TMC2209 Stepper Motor Driver with STM32L452RET

Question

i am trying to run a TMC2209 Stepper Motor Driver (BIGTREETECH TMC2209 V1.3 Module enter link description here) with a STM32L452 Nucleo Board. I am using PC9 as an Enable Pin, PC8 as a STEP Pin, PC7 as an DIR Pin and PC6 as DIAG EXTI. I want to use the UART communication interface (Uart1) for reading out stepper motor states and transmit control commands (velocity, acceleration, movement angle....)(during Debug: it seems to work transmitting commands). I have connected it as described in the Datasheet (single transmit line with a resistor).

The code is leaned against the examples and driver from Trinamic (https://github.com/trinamic) I have also followed the steps provided by Trinamic :

1.Implement the tmcXXXX_readWriteArray() function in in your code. This function provides the necessary hardware access to the TMC-API.

void tmc2209_readWriteArray(uint8_t channel, uint8_t *data, size_t writeLength, size_t readLength)
{


    HAL_UART_Transmit(&huart1, data, writeLength, HAL_MAX_DELAY);

    uint8_t buffer[9];
    
    if (readLength) {

        HAL_StatusTypeDef rx_status = HAL_UART_Receive(&huart1, buffer, readLength+1, 10); 


        last_tmc_read_attempt_ms = HAL_GetTick();
        memcpy(data, &(buffer[1]), readLength);

    }
}

2.Call tmcXXXX_init() once for each Trinamic IC in your design. This function initializes an IC object which represents one physical IC.

    void STEPPER_INIT(void)
{

        tmc_fillCRC8Table(0x07, true, 0);


        //  load whatever we've got from either boot into motor stat


        tmc2209_init(&TMC2209, 0, 0, &TMC2209_config, &tmc2209_defaultRegisterResetState[0]);

        TMC2209_config.shadowRegister[TMC2209_GCONF] = 0x00000040;
        TMC2209_config.shadowRegister[TMC2209_IHOLD_IRUN] = 0x00071703;
        TMC2209_config.shadowRegister[TMC2209_TPOWERDOWN] = 0x00000008;
        TMC2209_config.shadowRegister[TMC2209_CHOPCONF] = 0x10000053;
        TMC2209_config.shadowRegister[TMC2209_PWMCONF] = 0xC10D0024;

        


        TMC2209_config.shadowRegister[TMC2209_GCONF] &= (~TMC2209_I_SCALE_ANALOG_MASK);
        TMC2209_config.shadowRegister[TMC2209_GCONF] |= TMC2209_PDN_DISABLE_MASK;
        TMC2209_config.shadowRegister[TMC2209_GCONF] |= TMC2209_MSTEP_REG_SELECT_MASK;
        TMC2209_config.shadowRegister[TMC2209_GCONF] |= TMC2209_SHAFT_MASK;
        TMC2209_config.shadowRegister[TMC2209_GCONF] &= (~TMC2209_MULTISTEP_FILT_MASK);

        TMC2209_config.shadowRegister[TMC2209_CHOPCONF] &= (~TMC2209_MRES_MASK);
        TMC2209_config.shadowRegister[TMC2209_CHOPCONF] |= (0 << TMC2209_MRES_SHIFT) &  TMC2209_MRES_MASK;
        TMC2209_config.shadowRegister[TMC2209_CHOPCONF] |= (0xA << TMC2209_TOFF_SHIFT) &  TMC2209_TOFF_MASK;
        TMC2209_config.shadowRegister[TMC2209_CHOPCONF] |= TMC2209_DEDGE_MASK;


        TMC2209_config.shadowRegister[TMC2209_COOLCONF] = 0;
        TMC2209_config.shadowRegister[TMC2209_TCOOLTHRS] = 0xFFFFFFFF;

        TMC2209_config.shadowRegister[TMC2209_IHOLD_IRUN] &= (~TMC2209_IHOLDDELAY_MASK);
        TMC2209_config.shadowRegister[TMC2209_IHOLD_IRUN] |= (3 << TMC2209_IHOLDDELAY_SHIFT) &  TMC2209_IHOLDDELAY_MASK;

        StepDir_init(STEPDIR_PRECISION);
        StepDir_setPins(0);
        StepDir_setVelocityMax(0, 51200);
        StepDir_setAcceleration(0, 51200);

}

(The definition of the shadow registers are taken from this https://github.com/AlistairSymonds/SympleAstroFocus example) 3.Call tmcXXXX_periodicJob() periodically. Pass a millisecond timestamp as the tick parameter.

static void periodicJob(uint32_t tick)
{
    tmc2209_periodicJob(&TMC2209, tick);
    StepDir_periodicJob(0);
}

4.After initializing, calling tmcXXXX_reset() or tmcXXXX_restore(), the TMC-API will write multiple registers to the IC (referred to as IC configuration).

5.Per call to tmcXXXX_periodicJob(), one register will be written until IC configuration is completed.

6.Once the IC configuration is completed, you can use tmcXXXX_readInt() and tmcXXXX_writeInt() to read and write registers.

    int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART2_UART_Init();
  MX_USART1_UART_Init();
  MX_TIM3_Init();
  /* USER CODE BEGIN 2 */

    STEPPER_INIT();

    HAL_TIM_Base_Start_IT(&htim3);

    tmc2209_reset(&TMC2209);
    tmc2209_restore(&TMC2209);





  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {



      if(enable == 1){
          HAL_GPIO_WritePin(EN_GPIO_Port, EN_Pin, GPIO_PIN_RESET);
      }
      else if(enable == 0){
          HAL_GPIO_WritePin(EN_GPIO_Port, EN_Pin, GPIO_PIN_SET);
      }

      
      right(0,20000);
      periodicJob(HAL_GetTick());


      



    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

So actually the task is to adjust the StepDir.h and StepDir.c files which are provided from Trinamic in their example of the TMC Evalsystem : (https://github.com/trinamic/TMC-EvalSystem) to my hardware platform (and setup the main function accordingly). The driver files TMC2209.c and TMC2209.h (+ Ramp and Helper Functions) are leaved untouched.

My motor is just bouncing around and is not moving in a specific direction.

Does someone has a similar problem and adjusted the examples from Trinamic to another STM32 Chip?

(I can also provide my main.c, StepDic.c and StepDir.h files if it is necessary.)

Control TMC2209 Stepper Motor Driver with STM32L452RET

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