Test half-duplex serial with TMC2209

TMC2209-half-duplex.ino

#include <TMCStepper.h>

#define MAX_SPEED        20 // In timer value
#define MIN_SPEED       300

#define STALL_VALUE     100 // [0..255]

#define EN_PIN          PC1  // Enable
#define DIR_PIN         PC4  // Direction
#define STEP_PIN       PE12  // Step
#define SERIAL_RX        -1  // TMC2208/TMC2224 SoftwareSerial receive pin
#define SERIAL_TX       PD8  // TMC2208/TMC2224 SoftwareSerial transmit pin

#define R_SENSE 0.091f// Match to your driver

// Select your stepper driver type
//TMC2209Stepper driver(SW_RX, SW_TX, R_SENSE, DRIVER_ADDRESS);

HardwareSerial Serial_xyz(-1, PD8);
TMC2209Stepper driverx(&Serial_xyz, R_SENSE, 0);
TMC2209Stepper drivery(&Serial_xyz, R_SENSE, 1);
TMC2209Stepper driverz(&Serial_xyz, R_SENSE, 2);

HardwareSerial Serial_e(-1, PC6);
TMC2209Stepper drivere0(&Serial_e, R_SENSE, 0);
TMC2209Stepper drivere1(&Serial_e, R_SENSE, 1);

void setup() {
  Serial.begin(115200);         // Init serial port and set baudrate
  while (!Serial);              // Wait for serial port to connect
  Serial.println("\nStart...");

  Serial_xyz.begin(115200);
  Serial_e.begin(115200);

  pinMode(EN_PIN, OUTPUT);
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  // disable steppers
  digitalWrite(EN_PIN, LOW);
  delay(500);
  driverx.senddelay(14);
  delay(10);
  drivery.senddelay(14);
  delay(10);
  driverz.senddelay(14);
  delay(10);
  drivere0.senddelay(14);
  delay(10);
  drivere1.senddelay(14);
  delay(10);
  drvSetupX();
}

void drvSetupX() {
  driverx.begin();                 //  SPI: Init CS pins and possible SW SPI pins
                                   // UART: Init SW UART (if selected) with default 115200 baudrate
  driverx.toff(5);                 // Enables driver in software
  driverx.rms_current(600);        // Set motor RMS current
  driverx.microsteps(16);          // Set microsteps to 1/16th

//driverx.en_pwm_mode(true);       // Toggle stealthChop on TMC2130/2160/5130/5160
//driverx.en_spreadCycle(false);   // Toggle spreadCycle on TMC2208/2209/2224
  driverx.pwm_autoscale(true);     // Needed for stealthChop
}

void loop1() {
  Serial.print("Driver X version ");
  Serial.println(driverx.version());
  Serial.print("Driver X status 0x");
  Serial.println(driverx.DRV_STATUS(), HEX);

  Serial.print("Driver Y version ");
  Serial.println(drivery.version());
  Serial.print("Driver Y status 0x");
  Serial.println(drivery.DRV_STATUS(), HEX);

  Serial.print("Driver Z version ");
  Serial.println(driverz.version());
  Serial.print("Driver Z status 0x");
  Serial.println(driverz.DRV_STATUS(), HEX);

  Serial.print("Driver E0 version ");
  Serial.println(drivere0.version());
  Serial.print("Driver E0 status 0x");
  Serial.println(drivere0.DRV_STATUS(), HEX);

  Serial.print("Driver E1 version ");
  Serial.println(drivere1.version());
  Serial.print("Driver E1 status 0x");
  Serial.println(drivere1.DRV_STATUS(), HEX);

  delay(1000);
}

void loop() {
  digitalWrite(STEP_PIN, 0);
  delayMicroseconds(160);
  digitalWrite(STEP_PIN, 1);
  delayMicroseconds(140);
}