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tmc2209 bug fixes #755

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tmc2209 bug fixes #755

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16c8ca1
Make write buffer big enough for crc
cswank May 4, 2025
3117772
crc according to datasheet
cswank May 4, 2025
427b019
fix build
cswank May 4, 2025
964d2b6
a correct crc func already exists
cswank May 5, 2025
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22 changes: 7 additions & 15 deletions tmc2209/uartcomm.go
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Original file line number Diff line number Diff line change
Expand Up @@ -57,14 +57,10 @@ func (comm *UARTComm) WriteRegister(register uint8, value uint32, driverIndex ui
byte((value >> 16) & 0xFF), // Middle byte
byte((value >> 8) & 0xFF), // Next byte
byte(value & 0xFF), // LSB of value
0, // CRC
}

// Calculate checksum by XORing all bytes
checksum := byte(0)
for _, b := range buffer[:7] {
checksum ^= b
}
buffer[7] = checksum // Set checksum byte
buffer[7] = CalculateCRC(buffer[:7])

// Write the data to the TMC2209
done := make(chan error, 1)
Expand All @@ -86,10 +82,10 @@ func (comm *UARTComm) WriteRegister(register uint8, value uint32, driverIndex ui
// ReadRegister sends a register read command to the TMC2209 with a timeout.
func (comm *UARTComm) ReadRegister(register uint8, driverIndex uint8) (uint32, error) {
var writeBuffer [4]byte
writeBuffer[0] = 0x05 // Sync byte
writeBuffer[1] = 0x00 // Slave address
writeBuffer[2] = register & 0x7F // Read command (MSB clear for read)
writeBuffer[3] = writeBuffer[0] ^ writeBuffer[1] ^ writeBuffer[2] // Checksum
writeBuffer[0] = 0x05 // Sync byte
writeBuffer[1] = 0x00 // Slave address
writeBuffer[2] = register & 0x7F // Read command (MSB clear for read)
writeBuffer[3] = CalculateCRC(writeBuffer[:3])

// Send the read command
done := make(chan []byte, 1)
Expand All @@ -103,11 +99,7 @@ func (comm *UARTComm) ReadRegister(register uint8, driverIndex uint8) (uint32, e
// Implementing timeout using a 100ms timer
select {
case readBuffer := <-done:
// Validate checksum
checksum := byte(0)
for i := 0; i < 7; i++ {
checksum ^= readBuffer[i]
}
checksum := CalculateCRC(readBuffer[:7])
if checksum != readBuffer[7] {
return 0, CustomError("checksum error")
}
Expand Down