TMC9660 @BOOTSTRAPPING / CONFIG MOT BLDC / START

[Archi-2025]

Dear @trinamic-ASU i'm integrated your stand alone C file support for the Bootloader and the parameters of the TMC9660:
TMC9660.c # TMC9660.h # TMC9660_BL_HW_Abstraction.h # TMC9660_PARAM_HW_Abstraction.h
There are some difficulty but I'm trying it in my MCU using only the UART and wanting to send to the TM9660 a very simple BOOT configuration and a simple open loop parameterization (BLDC, FOC_OPENLOOP_VOLTAGE_MODE, OPENLOOP_VOLTAGE, TARGET_VELOCITY...):

Please could you suggest me a list of BOOT and PARAMETER strings to start the BLDC motor ???
What is the "Commando Boot Exit" 0x55 0x01 ..... ??? For enter the Parameter command i.e. 0x01 0x87 ..... ???

Thank's

[trinamic-ASU]

We are currently working on an Arduino example that will include the required bootstrapping sequence you mentioned. We’re aiming to have it ready by the end of this year.
We’ll notify you as soon as it’s available.

Please check out the examples for our other ICs here.

Thank you for your patience. We appreciate your interest in our products.

[Archi-2025]

Ok Thank you

[noahbreit]

Hi @Archi-2025

I was able to boot the TMC9660 EVKIT using an STM32 Nucleo board over serial UART. Let me know if this is any help: https://github.com/noahbreit/ECE395/blob/main/TMC_Bringup/Core/Src/main.c

I should have a more complete solution (with Parameter mode configurations) in the next few days.

Best,
Noah

[Archi-2025]

Hi @Archi-2025

I was able to boot the TMC9660 EVKIT using an STM32 Nucleo board over serial UART. Let me know if this is any help: https://github.com/noahbreit/ECE395/blob/main/TMC_Bringup/Core/Src/main.c

I should have a more complete solution (with Parameter mode configurations) in the next few days.

Best, Noah

Hi @noahbreit

Thanks for sharing your work. I also managed to boot and configure it, but I didn't fully understand all the commands, and I'm still getting some errors. The BLDC motor runs fine! I'll download your setup and try to compare it with my data. Thank you. If you have another complete version in the meantime, I'll gladly wait for that! Thank you very much.

[noahbreit]

@Archi-2025 Happy to help!

For reference I used the default TMC9660 config file (for TMCL-IDE) shipped with the TMC9660 eval kit named "ioconfig_tmc9660-3ph-eval.toml". This config file is consumed by the TMCL-IDE's command line tool and my goal was to replicate its functionality in firmware.
Explanation of 'most' of these register fields are in the data sheet OR the parameter mode guide document. Although some of these do not cleanly match with register fields provided by TMC-API, I have noted my assumptions throughout my code:
namely CONFIG_BOOT_04_BOOTSTRAP_BOOT_APP_FIELD == BOOT_MODE register field from data sheet and CONFIG_BOOT_04_BOOTSTRAP_LOAD_ROM_CODE_FIELD == START_MOTOR_CTRL from data sheet

I will have another working version by the end of the week. My goal is to cleanup the unit conversions for various global parameters: like, I think Openloop Voltage expects units of 100mV.

[trinamic-LH]

[..] Explanation of 'most' of these register fields are in the data sheet OR the parameter mode guide document. Although some of these do not cleanly match with register fields provided by TMC-API, I have noted my assumptions throughout my code: namely CONFIG_BOOT_04_BOOTSTRAP_BOOT_APP_FIELD == BOOT_MODE register field from data sheet and CONFIG_BOOT_04_BOOTSTRAP_LOAD_ROM_CODE_FIELD == START_MOTOR_CTRL from data sheet

Just want to confirm - this mapping is correct 👍
The naming discrepancy will be fixed in the next UblTools and TMC-API updates, coming soon!