{"id":15538737,"url":"https://github.com/chr157i4n/tmc2209_raspberry_pi","last_synced_at":"2025-03-01T07:12:17.653Z","repository":{"id":41851226,"uuid":"327051012","full_name":"Chr157i4n/TMC2209_Raspberry_Pi","owner":"Chr157i4n","description":"this is a Python library to drive a stepper motor with a Trinamic TMC2209 stepper driver and a Raspberry Pi","archived":false,"fork":false,"pushed_at":"2024-10-29T18:05:25.000Z","size":2361,"stargazers_count":69,"open_issues_count":0,"forks_count":27,"subscribers_count":9,"default_branch":"main","last_synced_at":"2024-11-29T09:09:58.618Z","etag":null,"topics":["driver","pin","python","raspberry-pi","stepper-motor","tmc2209","trinamic","uart-communication"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Chr157i4n.png","metadata":{"files":{"readme":"README.md","changelog":"CHANGELOG.md","contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2021-01-05T16:09:48.000Z","updated_at":"2024-11-21T20:19:04.000Z","dependencies_parsed_at":"2023-09-30T15:15:50.055Z","dependency_job_id":"358bea2c-42f2-4a37-8e18-ae1c13d98248","html_url":"https://github.com/Chr157i4n/TMC2209_Raspberry_Pi","commit_stats":{"total_commits":265,"total_committers":14,"mean_commits":"18.928571428571427","dds":"0.41132075471698115","last_synced_commit":"eb6c11b1672cfb1576cdf4ec482cfd556af7e831"},"previous_names":[],"tags_count":15,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Chr157i4n%2FTMC2209_Raspberry_Pi","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Chr157i4n%2FTMC2209_Raspberry_Pi/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Chr157i4n%2FTMC2209_Raspberry_Pi/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Chr157i4n%2FTMC2209_Raspberry_Pi/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Chr157i4n","download_url":"https://codeload.github.com/Chr157i4n/TMC2209_Raspberry_Pi/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":240131746,"owners_count":19752727,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["driver","pin","python","raspberry-pi","stepper-motor","tmc2209","trinamic","uart-communication"],"created_at":"2024-10-02T12:05:47.504Z","updated_at":"2025-02-22T06:01:53.103Z","avatar_url":"https://github.com/Chr157i4n.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# TMC_2209_Raspberry_Pi\n\n[![PyPI python version TMC-2209-Raspberry-Pi](https://badgen.net/pypi/python/TMC-2209-Raspberry-Pi)](https://pypi.org/project/TMC-2209-Raspberry-Pi)\n[![PyPI version TMC-2209-Raspberry-Pi](https://badgen.net/pypi/v/TMC-2209-Raspberry-Pi)](https://pypi.org/project/TMC-2209-Raspberry-Pi)\n[![PyPI downloads TMC-2209-Raspberry-Pi](https://img.shields.io/pypi/dm/TMC-2209-Raspberry-Pi)](https://pypi.org/project/TMC-2209-Raspberry-Pi)\n[![GitHub issues](https://img.shields.io/github/issues/Chr157i4n/TMC2209_Raspberry_Pi.svg)](https://GitHub.com/Chr157i4n/TMC2209_Raspberry_Pi/issues/)\n\n\\\n\\\nThis is a library to drive a stepper motor with a TMC2209 stepper driver and a Raspberry Pi.\n\nThis code is still experimental, so use it on your own risk.\n\nThis library is programmed in pure Python. The performance of Python is not good enough to drive the motor with high speed.\nSo if you move the motor with high speed using this library the motor will lose steps.\n\nTested on a [Bigtreetech TMC2209 V1.2](https://github.com/bigtreetech/BIGTREETECH-Stepper-Motor-Driver/tree/master/TMC2209/V1.2) and [Bigtreetech TMC2209 V1.3](https://github.com/bigtreetech/BIGTREETECH-Stepper-Motor-Driver/tree/master/TMC2209/V1.3).\n\nIt has a rSense of 110 mOhm and it uses one Pin (PDN_UART) for UART RX and TX.\nSo the PDN_UART-Pin needs to be connected to the Raspberrry Pis RX-Pin directly and to the TX-Pin with an 1kOhm resistor.\nYou can read more about this in the datasheet from Trinamic.\n\nBecause the TMC2209 uses one shared pin for transmit and receive in the UART communication line, the Raspberry Pi also receives what it sends.\nWell, the Pi receives 4 bytes from itself and 8 bytes from the driver. So the Pi receives a total of 12 bytes and only the last 8 are the reply, of which only 4 are data bytes.\n\nThe Documentation of the TMC2209 can be found here:\n[TMC2209 - Datsheet](https://www.analog.com/media/en/technical-documentation/data-sheets/TMC2209_datasheet_rev1.09.pdf)\n\nThe code is also available on [PyPI](https://pypi.org/project/TMC-2209-Raspberry-Pi).\n\n## Installation\n\n### Installation with PIP\n\n```shell\npip3 install TMC-2209-Raspberry-Pi\n```\n\n### Installation with GIT\n\n- clone this repo to your Raspberry Pi using\n\n    ```shell\n    git clone https://github.com/Chr157i4n/TMC2209_Raspberry_Pi\n    ```\n\n- install the required modules\n\n    ```shell\n    pip3 install RPi.GPIO pyserial\n    ```\n\n- enable the serial port in\n\n    ```shell\n    sudo raspi-config\n    ```\n\n### Board Support\n\nThe following table shows the supported boards and which libraries for GPIO access is beeing used for that board.\n\nLibrary     | Installation Parameter    | Boards\n----------- | ------------------------- | -----------\nRPi.GPIO    | RASPBERRY_PI              | Pi4, Pi3 etc.\ngpiozero    | RASPBERRY_PI5             | Pi5\nJetson.GPIO | NVIDIA_JETSON             | Nvidia Jetson\npheriphery  | LUCKFOX_PICO              | Luckfox Pico\npheriphery  | LUCKFOX_PICO              | Luckfox Pico\nOPi.GPIO    | ORANGE_PI                 | Orange Pi\n\nThose libraries are needed for this library to work. You can either install the correct library yourself.\nYou can also install the needed GPIO library by specifing the Installation Parameter while installing this library:\n\n```shell\npip3 install TMC-2209-Raspberry-Pi[RASPBERRY_PI]\n```\n\n## Wiring\n\nPin TMC2209 | connect to | Function\n-- | -- | --\nTX or PDN_UART with 1kOhm | TX of Raspberry Pi | send data to TMC via UART\nRX or PDN_UART directly | RX of Raspberry Pi | receive data from TMC via UART\nVDD | 3,3V of Raspberry Pi | optional, for more stable logic voltage\nGND | GND of Raspberry Pi | GND for VDD and Signals\nVM | 12V or 24V of power supply | power for the motor\nGND | GND of power supply | power for the motor\nEN | GPIO21 of Raspberry Pi | enable the motor output\nSTEP | GPIO16 of Raspberry Pi | moves the motor one step per pulse\nDIR | GPIO20 of Raspberry Pi | set the direction of the motor\nDIAG | GPIO26 of Raspberry Pi | optional, for StallGuard\n\n![wiring diagram](docs/images/wiring_diagram.png)\n\nThe GPIO pins can be specific when initiating the class.\nIf you test this on a breadboard, make sure to cut off the bottomside of the pins (Vref and DIAG) next to the EN pin, so that they are not shorted trough the breadboard.\n\n## Demo scripts\n\nYou can run the demo scripts files from the main directory with\n\n```shell\npython3 -m demo.demo_script_01_uart_connection\n```\n\n### [demo_script_01_uart_connection.py](demo/demo_script_01_uart_connection.py)\n\nThis only communicates with the TMC driver over UART. It should set some settings in the driver and then outputs the settings.\nWhen it outputs ```TMC2209: UART Communication Error```, you need to check the UART-connection.\n\n### [demo_script_02_pin_connection.py](demo/demo_script_02_pin_connection.py)\n\nThis script enables the raspberry GPIO output for the dir, en and step pin and then checks the TMC driver register,\nwhether the driver sees them as HIGH or LOW. Because the enabled pin is activated for a short time, the motor current ouput\nwill be also activated in this script for a short time.\nThis script should output:\nPin DIR:        OK\nPin STEP:       OK\nPin EN:         OK\nif not, check the connection of the pin.\n\n### [demo_script_03_basic_movement.py](demo/demo_script_03_basic_movement.py)\n\nThis script should move the motor 6 times, one revolution back and forth.\n\n### [demo_script_04_stallguard.py](demo/demo_script_04_stallguard.py)\n\nIn this script the stallguard feature of the TMC2209 is beeing setup.\nA funtion will be called, if the driver detects a stall. The function stops the current movement.\nThe motor will be moved 10 revolutions. If the movement is finished unhindered, the script outputs ```Movement finished successfully```.\nIf you block the motor with pliers or something similar, the the motor will stop and the script outputs ```StallGuard!``` and ```Movement was not completed```\n\n### [demo_script_05_vactual.py](demo/demo_script_05_vactual.py)\n\nVACTUAL allows moving the motor by UART control. It gives the motor velocity in +-(2^23)-1 [μsteps / t]\n\n### [demo_script_06_multiple_drivers.py](demo/demo_script_06_multiple_drivers.py)\n\nMultiple drivers can be addressed via UART by setting different addresses with the MS1 and MS2 pins.\nSimultaneous movement of multiple motors can be done with threaded movement.\n\n### [demo_script_07_threads.py](demo/demo_script_07_threads.py)\n\nIn this script, the movement of a stepper with threads is shown. This can be used to do other task while moving a motor, or to move several motors simultaneous.\n\n### [demo_script_08_log_to_file.py](demo/demo_script_08_log_to_file.py)\n\nThis script shows how you can alter the formatting of the TMC2209 log messages and redirect the log output to a file called `tmc2209_log_file.log` that will be created in the current directory.\n\n\\\n\\\nFor me these baudrates worked fine: 19200, 38400, 57600, 115200, 230400, 460800, 576000.\n\nIf the TMC2209 driver is connected to the Vmotor, the internal voltage regulator will create the Vio for the chip.\nSo you don't need to connect anything to the Vio pin of the driver.\n\n## Usage\n\n```python\nfrom TMC_2209.TMC_2209_StepperDriver import *\ntmc = TMC_2209(21, 16, 20)\n\ntmc.set_direction_reg(False)\ntmc.set_current(300)\ntmc.set_interpolation(True)\ntmc.set_spreadcycle(False)\ntmc.set_microstepping_resolution(2)\ntmc.set_internal_rsense(False)\n\ntmc.set_acceleration(2000)\ntmc.set_max_speed(500)\n\ntmc.set_motor_enabled(True)\n\ntmc.run_to_position_steps(400)\ntmc.run_to_position_steps(0)\n\ntmc.set_motor_enabled(False)\n```\n\n## Troubleshoot\n\nIf you have questions please check out the [Wiki](https://github.com/Chr157i4n/TMC2209_Raspberry_Pi/wiki) and the other issues.\n\nIf you encounter any problems, feel free to open an issue (ENG/GER).\nPlease don't send any E-Mails to me. Pls use Github, so that i don't need to answer the same question multiple times.\nI reserve the right not to answer E-Mails.\n\nProblem | Solution\n-- | --\nFileNotFoundError: [Errno 2] No such file or directory: '/dev/serial0' | depending on your Raspberry Pi version, you need to enable the Serial Port \u003cbr /\u003e run `sudo raspi-config` in your terminal. \u003cbr /\u003e there go to '3 Interface Options' -\u003e 'P3 Serial Port' \u003cbr /\u003e Would you like a login shell to be accessible over serial? No \u003cbr /\u003e Would you like the serial port hardware to be enabled? Yes \u003cbr /\u003e Finish and then reboot\nPermissionError: [Errno 13] \u003cbr /\u003e Permission denied: '/dev/serial0' | you need to give the permission to acces the Serial Port to your current user \u003cbr /\u003e You may need to add your user (pi) to the dialout group with `sudo usermod -a -G dialout pi` and then relog. \u003cbr /\u003e If that does not work, make sure that your user has read/write permissions on the dev file `/dev/serial0` by calling `sudo chmod 660 /dev/serial0`.\n\"TMC2209: UART Communication Error\" | You can use the 'debug_script_01_uart_connection' script to get a better reading on the received bytes and troubleshoot your problem\n\"TMC2209: UART Communication Error: 0 data bytes \\| 4 total bytes\" | only 4 total bytes received indicates, that the Raspberry Pi receives its own data, but nothing from the TMC driver. This happens if RX and TX are connected properly, but the TMC driver has no power\n\"TMC2209: UART Communication Error: 0 data bytes \\| 0 total bytes\" | 0 total bytes received indicates, a problem with your wiring or your Raspberry Pi. This happens if TX is not connected\n\"TMC2209: UART Communication Error: 4 data bytes \\| 12 total bytes\" | this indicates, the Raspberry Pi received only zeroes. This happens if only RX is connected and TX not\n\"the Raspberry Pi received only the sended bits\" or\u003cbr /\u003e inconsistent received bits | Make sure the UART ist properly connected to the TMC driver and the driver is powered and working. \u003cbr /\u003e Make sure login shell (console) over serial is disabled.\n\n![wiring photo](docs/images/wiring_photo.jpg)\n\n## Acknowledgements\n\nThe code to run the stepper motor is based on the code of the [AccelStepper Library from Mike McCauley](http://www.airspayce.com/mikem/arduino/AccelStepper).\n\nThe code for the UART communication is based on this [code from troxel](https://github.com/troxel/TMC_UART).\n\nMy goal is to make a library, that can run a stepper motor with a TMC2209 stepper driver and can write the setting in the register of the TMC2209, entirely in Python.\nThe main focus for this are Test setups, as Python is not fast enough for high motor speeds.\n\n## Feedback/Contributing\n\nIf you encounter any problem, feel free to open an issue on the Github [issue page](https://github.com/Chr157i4n/TMC2209_Raspberry_Pi/issues).\nFeedback will keep this project growing and I encourage all suggestions.\nFeel free to submit a pull request on the dev branch.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fchr157i4n%2Ftmc2209_raspberry_pi","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fchr157i4n%2Ftmc2209_raspberry_pi","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fchr157i4n%2Ftmc2209_raspberry_pi/lists"}