The production node firmware is GrafitoCANStepper_C3 (Arduino / ESP32-C3, GCSP v1). Use this page to download the sketch or preview the full source. The file is hosted on this docs site (no private repository access required).
Download & full source preview
ESP32-C3 GCSP firmware (fw ≥1.4 includes TMC OTPW/OT diagnostics).
// Loading firmware preview…What this sketch provides
| Area | Notes |
|---|---|
| Motion | Open-loop FastAccelStepper; closed-loop trap + v_ff (fw ≥1.2) |
| Driver | TMC2209 over UART; OTPW/OT, shorts, StallGuard (fw ≥1.4) |
| Encoder | MT6701 SSI, multi-turn angle |
| Bus | TWAI CAN 1 Mbps, USB serial bridge |
| Safety | E-stop latch, fault codes, bus-off recovery |
Flash with Arduino IDE or arduino-cli (ESP32C3 Dev Module, USB CDC On Boot:
Enabled). Libraries: FastAccelStepper, TMC2209 (janelia-arduino).
Power for programming: apply the main 5–24 V rail (typically 24 V) before upload. USB-C is data only — it does not power the ESP32 for programming. See Hardware → Power.
arduino-cli compile --fqbn esp32:esp32:esp32c3:CDCOnBoot=cdc \
path/to/GrafitoCANStepper_C3
arduino-cli upload -p /dev/ttyACM0 --fqbn esp32:esp32:esp32c3:CDCOnBoot=cdc \
path/to/GrafitoCANStepper_C3After flash, the serial banner should show fw 1.4 (or newer) for full TMC
diagnostics (fw 1.7 includes HOME raw diagnostics). Host API:
node.get_driver_status() — see Python library and
Protocol DRIVER.
Optional: Wi‑Fi SoftAP test portal
For a phone browser bench UI (SoftAP hotspot + enable/move/endstop), see
Wi‑Fi test portal. That sketch is separate and overwrites
production GCSP until you re-flash GrafitoCANStepper_C3.
Related
- Wi‑Fi test portal — SoftAP + web UI (optional)
- Quickstart — first flash and motion
- Hardware — pins, power, heatsink / cooling
- Protocol — wire format and DRIVER bit layout
- Troubleshooting — OTPW / OT without heatsink