Custom ESPHome external components for the MicroDriver project: stepper motor drivers, encoders, and IMUs.
| Component | Description | Interface |
|---|---|---|
stepper |
Generic stepper base with acceleration/deceleration profiles | — |
tmc2209 |
ADI Trinamic TMC2209 smart stepper driver | UART |
tmc2209_hub |
UART hub for multiple TMC2209 drivers on one bus | UART |
tmc2208 |
ADI Trinamic TMC2208 smart stepper driver | UART |
tmc2208_hub |
UART hub for multiple TMC2208 drivers on one bus | UART |
tmc2300 |
ADI Trinamic TMC2300 compact stepper driver | UART |
tmc5240 |
ADI Trinamic TMC5240 high-power stepper driver (base) | SPI/UART |
tmc5240_spi |
TMC5240 SPI variant | SPI |
tmc5240_uart |
TMC5240 UART variant | UART |
as5047 |
AMS AS5047 absolute magnetic position encoder | SPI |
icm20948 |
InvenSense ICM-20948 9-DOF IMU (base) | — |
icm20948_i2c |
ICM-20948 I2C variant | I2C |
icm20948_spi |
ICM-20948 SPI variant | SPI |
stepper_closed_loop |
Optional closed-loop feedback for any stepper (AS5600 or any sensor) | I2C (via sensor) |
insight |
ESPHome internal diagnostics (loop frequency, etc.) | — |
freematics |
Freematics CAN bus sniffer interface | UART |
Add the following to your ESPHome YAML configuration:
external_components:
- source: github://Trondle-Embedded-Systems/MicroDriver-software
components: [tmc2209_hub, tmc2209, stepper]
To pin to a specific commit for stability, append the commit SHA:
external_components:
- source: github://Trondle-Embedded-Systems/MicroDriver-software@<commit-sha>
components: [tmc2209_hub, tmc2209, stepper]
For local development, reference the components/ directory directly:
external_components:
- source:
type: local
path: /path/to/MicroDriver-software/components
components: [tmc2209_hub, tmc2209, stepper]
These components are optimised for the ESP32-S3. Use the esp-idf framework for best performance — it gives full FreeRTOS control, proper IRAM placement, and access to both cores.
esp32:
board: esp32-s3-devkitc-1
variant: esp32s3
framework:
type: esp-idf
external_components:
- source: github://Trondle-Embedded-Systems/MicroDriver-software
components: [tmc2209_hub, tmc2209, stepper]
- IRAM placement: Speed calculation and step-generation functions are marked
IRAM_ATTR HOT, keeping them in internal RAM to avoid flash-cache latency during high-frequency stepping. - Dual-core step generation: On dual-core ESP32-S3 builds (
CONFIG_FREERTOS_UNICORE=0), the PULSES_CONTROL mode spawns a dedicated FreeRTOS task pinned to core 0 (PRO_CPU) at maximum priority. This isolates pulse timing from the ESPHome main loop running on core 1, improving step accuracy at high speeds. - SERIAL_CONTROL mode: The TMC2209/2208 SERIAL_CONTROL mode uses the driver's internal step interpolation via
VACTUAL, bypassing software pulse generation entirely — recommended for the highest step rates.
Each component has its own README.md with wiring diagrams, full configuration reference, and example YAML:
- TMC2209
- TMC2208
- TMC2300
- AS5047
- ICM-20948
- Stepper Closed Loop (AS5600)
- Insight
- MicroDriver Door Control
This repo has been modified from https://github.com/slimcdk/esphome-custom-components/tree/master