Examples

Complete ESP32 applications that exercise the driver on the TMC9660 evaluation kits, one feature area each.

They run on an ESP32-C6 DevKit wired to a TMC9660-3PH-EVKIT (BLDC) or TMC9660-STP-EVKIT (stepper); the pins are in esp32_tmc9660_test_config.hpp and the port in esp32_tmc9660_bus.hpp. CI builds every app below on each pull request.

The apps

App	What it shows	Source	CI
bldc_comprehensive_test	Comprehensive BLDC motor testing suite with Hall sensors, ABN encoders, and velocity control	bldc_comprehensive_test.cpp	yes
stepper_comprehensive_test	Comprehensive Stepper motor testing suite with FOC and step/dir control	stepper_comprehensive_test.cpp	yes
dc_comprehensive_test	Comprehensive DC motor testing suite with current control and velocity control	dc_comprehensive_test.cpp	yes
telemetry_comprehensive_test	Comprehensive telemetry monitoring test suite for temperature, current, voltage, and status	telemetry_comprehensive_test.cpp	yes
bootloader_comprehensive_test	Comprehensive bootloader testing suite for initialization and configuration validation	bootloader_comprehensive_test.cpp	yes
tmcl_timing	TMCL SPI access timing: single vs pipelined, frame-gap sweep, latency histogram	tmcl_timing.cpp	yes

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

./scripts/build_app.sh bldc_comprehensive_test Release
./scripts/flash_app.sh flash_monitor bldc_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
. $IDF_PATH/export.sh                                 # ESP-IDF v5.5
./scripts/build_app.sh list                           # every app and build type

The scripts read app_config.yml (the same file this page's table comes from) and build each app as its own firmware image.

What to read in an example

You want to	Read
See a full BLDC bring-up: gate driver, current sensing, Hall, FOC loops	bldc_comprehensive_test.cpp, configure* functions
Run a stepper in FOC with step/dir	stepper_comprehensive_test.cpp
Read telemetry and decode faults in a loop	telemetry_comprehensive_test.cpp
Check every bootloader option	bootloader_comprehensive_test.cpp
Measure TMCL access latency on your board	tmcl_timing.cpp (Timing and throughput)

The example folder's README has the evaluation-kit wiring, the per-test checklists and the expected serial output.