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Added an ESP-IDF sample project.
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‎examples/ESPIDFExample/.gitignore

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/build
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/.vscode
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/managed_components
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/sdkconfig
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/dependencies.lock

‎examples/ESPIDFExample/CMakeLists.txt

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# For more information about build system see
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# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html
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# The following five lines of boilerplate have to be in your project's
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# CMakeLists in this exact order for cmake to work correctly
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cmake_minimum_required(VERSION 3.16)
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include($ENV{IDF_PATH}/tools/cmake/project.cmake)
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project(idf_project_example)

‎examples/ESPIDFExample/README.md

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This folder contains a bare bones functional ESP-IDF project.
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You can create one using the **ESP-IDF: New Project** command in
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Visual Studio code, or use this one as a basis. If you do use this one
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as a basis for your own project, review the `.gitignore` file as it
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excludes files you would not want to exclude in a normal project.
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Normally only the `managed_components` and `build` folders would be
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excluded from version control.

‎examples/ESPIDFExample/main/CMakeLists.txt

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FILE(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/*.c ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
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idf_component_register(
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SRCS ${SOURCES}
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INCLUDE_DIRS "."
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)

‎examples/ESPIDFExample/main/idf_component.yml

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dependencies:
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TMC2209:
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path: ../../..
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# Alternatively you can point this directly at the GitHub repository:
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# git: https://github.com/janelia-arduino/TMC2209.git

‎examples/ESPIDFExample/main/main.cpp

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#include <TMC2209.h>
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// This example will not work on Arduino boards without HardwareSerial ports,
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// such as the Uno, Nano, and Mini.
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//
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// See this reference for more details:
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// https://www.arduino.cc/reference/en/language/functions/communication/serial/
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HardwareSerial & serial_stream = Serial1;
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const long SERIAL_BAUD_RATE = 115200;
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const int DELAY = 2000;
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// Instantiate TMC2209
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TMC2209 stepper_driver;
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extern "C" void app_main()
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{
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Serial.begin(SERIAL_BAUD_RATE);
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stepper_driver.setup(serial_stream);
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Serial.println("*************************");
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Serial.println("getSettings()");
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TMC2209::Settings settings = stepper_driver.getSettings();
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Serial.print("settings.is_communicating = ");
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Serial.println(settings.is_communicating);
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Serial.print("settings.is_setup = ");
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Serial.println(settings.is_setup);
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Serial.print("settings.software_enabled = ");
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Serial.println(settings.software_enabled);
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Serial.print("settings.microsteps_per_step = ");
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Serial.println(settings.microsteps_per_step);
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Serial.print("settings.inverse_motor_direction_enabled = ");
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Serial.println(settings.inverse_motor_direction_enabled);
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Serial.print("settings.stealth_chop_enabled = ");
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Serial.println(settings.stealth_chop_enabled);
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Serial.print("settings.standstill_mode = ");
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switch (settings.standstill_mode)
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{
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case TMC2209::NORMAL:
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Serial.println("normal");
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break;
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case TMC2209::FREEWHEELING:
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Serial.println("freewheeling");
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break;
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case TMC2209::STRONG_BRAKING:
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Serial.println("strong_braking");
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break;
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case TMC2209::BRAKING:
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Serial.println("braking");
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break;
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}
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Serial.print("settings.irun_percent = ");
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Serial.println(settings.irun_percent);
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Serial.print("settings.irun_register_value = ");
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Serial.println(settings.irun_register_value);
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Serial.print("settings.ihold_percent = ");
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Serial.println(settings.ihold_percent);
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Serial.print("settings.ihold_register_value = ");
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Serial.println(settings.ihold_register_value);
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Serial.print("settings.iholddelay_percent = ");
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Serial.println(settings.iholddelay_percent);
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Serial.print("settings.iholddelay_register_value = ");
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Serial.println(settings.iholddelay_register_value);
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Serial.print("settings.automatic_current_scaling_enabled = ");
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Serial.println(settings.automatic_current_scaling_enabled);
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Serial.print("settings.automatic_gradient_adaptation_enabled = ");
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Serial.println(settings.automatic_gradient_adaptation_enabled);
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Serial.print("settings.pwm_offset = ");
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Serial.println(settings.pwm_offset);
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Serial.print("settings.pwm_gradient = ");
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Serial.println(settings.pwm_gradient);
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Serial.print("settings.cool_step_enabled = ");
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Serial.println(settings.cool_step_enabled);
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Serial.print("settings.analog_current_scaling_enabled = ");
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Serial.println(settings.analog_current_scaling_enabled);
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Serial.print("settings.internal_sense_resistors_enabled = ");
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Serial.println(settings.internal_sense_resistors_enabled);
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Serial.println("*************************");
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Serial.println();
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Serial.println("*************************");
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Serial.println("hardwareDisabled()");
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bool hardware_disabled = stepper_driver.hardwareDisabled();
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Serial.print("hardware_disabled = ");
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Serial.println(hardware_disabled);
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Serial.println("*************************");
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Serial.println();
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Serial.println("*************************");
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Serial.println("getStatus()");
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TMC2209::Status status = stepper_driver.getStatus();
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Serial.print("status.over_temperature_warning = ");
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Serial.println(status.over_temperature_warning);
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Serial.print("status.over_temperature_shutdown = ");
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Serial.println(status.over_temperature_shutdown);
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Serial.print("status.short_to_ground_a = ");
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Serial.println(status.short_to_ground_a);
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Serial.print("status.short_to_ground_b = ");
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Serial.println(status.short_to_ground_b);
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Serial.print("status.low_side_short_a = ");
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Serial.println(status.low_side_short_a);
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Serial.print("status.low_side_short_b = ");
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Serial.println(status.low_side_short_b);
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Serial.print("status.open_load_a = ");
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Serial.println(status.open_load_a);
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Serial.print("status.open_load_b = ");
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Serial.println(status.open_load_b);
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Serial.print("status.over_temperature_120c = ");
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Serial.println(status.over_temperature_120c);
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Serial.print("status.over_temperature_143c = ");
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Serial.println(status.over_temperature_143c);
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Serial.print("status.over_temperature_150c = ");
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Serial.println(status.over_temperature_150c);
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Serial.print("status.over_temperature_157c = ");
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Serial.println(status.over_temperature_157c);
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Serial.print("status.current_scaling = ");
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Serial.println(status.current_scaling);
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Serial.print("status.stealth_chop_mode = ");
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Serial.println(status.stealth_chop_mode);
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Serial.print("status.standstill = ");
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Serial.println(status.standstill);
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Serial.println("*************************");
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Serial.println();
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Serial.println();
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delay(DELAY);
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}

‎examples/ESPIDFExample/sdkconfig.defaults

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# Required by the android-esp32 component.
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CONFIG_FREERTOS_HZ=1000

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