Crate tmc2209_uart 

TMC2209 Driver

A no_std Rust driver for the TMC2209 stepper motor driver.

This crate provides:

• Full register definitions for all 24 TMC2209 registers
• Type-safe register access with bitfield getters/setters
• High-level Tmc2209 driver struct for UART communication
• Blocking API (feature blocking)
• Async API (feature async)
• Utility functions for current/velocity calculations

Features

• blocking (default): Enable blocking UART API using embedded_io traits
• async: Enable async UART API using embedded_io_async traits
• defmt: Enable defmt::Format derives for debugging

Example

use tmc2209::{Tmc2209, registers::{IholdIrun, Chopconf, MicrostepResolution}};

// Create driver with UART and slave address 0
let mut driver = Tmc2209::new(uart, 0);

// Check connection
if driver.is_connected() {
    // Set motor current (run=16, hold=8)
    driver.set_current(16, 8, 1)?;

    // Set microstep resolution
    driver.set_microsteps(MicrostepResolution::M16)?;

    // Enable StealthChop for quiet operation
    driver.enable_stealthchop()?;

    // Start moving at velocity 1000
    driver.set_velocity(1000)?;
}

Protocol Overview

The TMC2209 uses a simple UART protocol at 115200 baud (configurable):

• Read request: 4 bytes [0x05, slave_addr, reg_addr, CRC]
• Write request: 8 bytes [0x05, slave_addr, reg_addr|0x80, data[3:0], CRC]
• Read response: 8 bytes [0x05, 0xFF, reg_addr, data[3:0], CRC]

The driver handles echo bytes automatically (TMC2209 echoes all sent data on its single-wire UART interface).

Re-exports

pub use driver::Tmc2209;

pub use error::Error;

pub use registers::Address;

pub use registers::Chopconf;

pub use registers::Coolconf;

pub use registers::DrvStatus;

pub use registers::FactoryConf;

pub use registers::Gconf;

pub use registers::Gstat;

pub use registers::Ifcnt;

pub use registers::IholdIrun;

pub use registers::Ioin;

pub use registers::MicrostepResolution;

pub use registers::Mscnt;

pub use registers::Mscuract;

pub use registers::OtpProg;

pub use registers::OtpRead;

pub use registers::Pwmconf;

pub use registers::PwmAuto;

pub use registers::PwmScale;

pub use registers::ReadableRegister;

pub use registers::Register;

pub use registers::SgResult;

pub use registers::Sgthrs;

pub use registers::Slaveconf;

pub use registers::StandstillMode;

pub use registers::Tcoolthrs;

pub use registers::Tpowerdown;

pub use registers::Tpwmthrs;

pub use registers::Tstep;

pub use registers::Vactual;

pub use registers::WritableRegister;

pub use util::calculate_current_settings;

pub use util::cs_to_current;

pub use util::current_to_cs;

pub use util::optimal_vsense;

pub use util::tstep_to_velocity;

pub use util::velocity_to_tpwmthrs;

pub use util::velocity_to_vactual;

pub use util::DEFAULT_FCLK;

pub use util::DEFAULT_RSENSE;

pub use datagram::ReadRequest;

pub use datagram::ReadResponse;

pub use datagram::ResponseReader;

pub use datagram::WriteRequest;

pub use datagram::MASTER_ADDR;

pub use datagram::SYNC;

Modules

crc

CRC-8 calculation for TMC2209 UART communication.

datagram

UART datagram types for TMC2209 communication.

driver

TMC2209 high-level driver.

error

Error types for TMC2209 driver.

registers

TMC2209 register definitions and traits.

util

Utility functions for TMC2209 calculations.