Examples

Complete ESP32 applications that exercise the driver on real hardware, one feature area each.

They run on an ESP32-C6 wired to a TMC5160 board (the TMC5160-EVAL or a breakout board); the pins are in esp32_tmc51x0_test_config.hpp and the port in esp32_tmc51x0_bus.hpp. CI builds every app marked "yes" below on each pull request.

The apps

App	What it shows	Source	CI
internal_ramp_comprehensive_test	Internal-ramp test suite over SPI: core, motor control, ramp control, diagnostics and protection (one motor, encoder and reference switches)	internal_ramp_test_suites/internal_ramp_comprehensive_test.cpp	yes
spi_daisy_chain_comprehensive_test	SPI daisy-chain test suite: chain setup, positions and multi-motor moves (set TEST_CHAIN_LENGTH to your hardware)	internal_ramp_test_suites/spi_daisy_chain_comprehensive_test.cpp	no
uart_multi_node_comprehensive_test	UART single-wire test suite: register access, node addressing, send delay and motion (set TEST_NODE_COUNT, default 1)	internal_ramp_test_suites/uart_multi_node_comprehensive_test.cpp	no
internal_ramp_sinusoidal	Sinusoidal back-and-forth motion with the internal ramp generator	internal_ramp_test_suites/internal_ramp_sinusoidal.cpp	yes
fatigue_test_espnow_unit	Fatigue test unit controlled over ESP-NOW or UART, with StallGuard2 or encoder bounds detection	fatigue_test_espnow/main.cpp	no
espnow_protocol_test_unit	ESP-NOW protocol test unit: answers protocol messages without driving a motor	fatigue_test_espnow/espnow_protocol_test_unit.cpp	no
stallguard_tuning	Finds the StallGuard2 threshold (SGT) for sensorless homing	tuning/stallguard_tuning.cpp	yes
bounds_finding_test	Finds the mechanical limits, homes to the centre and reports the travel	tuning/bounds_finding_test.cpp	no
abn_encoder_reader	Reads and prints the position of an ABN incremental encoder	sensors/abn_encoder_reader.cpp	no
i2c_scan	I2C bus scanner for the OLED UI board wiring (SDA = GPIO5, SCL = GPIO23)	diagnostics/i2c_scan.cpp	no

Build and flash one (from examples/esp32, ESP-IDF environment loaded):

./scripts/build_app.sh internal_ramp_comprehensive_test Release
./scripts/flash_app.sh flash_monitor internal_ramp_comprehensive_test Release

Source of this table: examples/esp32/app_config.yml.

Set up once

git submodule update --init examples/esp32/scripts   # the HardFOC ESP-IDF build scripts
cd examples/esp32
./scripts/build_app.sh list                           # every app, build type and ESP-IDF version

The scripts read app_config.yml (the same file this page's table comes from) and build each app as its own firmware image. The example folder's README covers installing ESP-IDF with the project tools.

What to read in an example

You want to	Read
See a full bring-up: currents, chopper, ramp, diagnostics, protection	internal_ramp_comprehensive_test.cpp
Move in a smooth back-and-forth pattern	internal_ramp_sinusoidal.cpp
Tune the StallGuard2 threshold on your mechanics	stallguard_tuning.cpp (StallGuard and homing)
Find the ends of travel and home to the centre	bounds_finding_test.cpp
Read an ABN encoder	abn_encoder_reader.cpp
Run several chips on one SPI bus or one UART	spi_daisy_chain_comprehensive_test.cpp, uart_multi_node_comprehensive_test.cpp (Multi-chip)
Run a long fatigue test controlled over ESP-NOW	fatigue_test_espnow/main.cpp and its docs/

Each app has a page in examples/esp32/docs/ with its wiring and expected output. The board, motor and platform settings the apps share are described in the driver configuration guide.