ESP32, TMC2209, and UART Control of Microstepping

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Alright - I went for the ESP32 because my budget is a bit limited.

I used the code, posted below, and it works - but it still seems to be limited, in terms of speed. It is from this thread.

What I'm curious about still, though, is how to access the 30,000 step-pulses-per-second. The basic code below seems to do nothing if the baud-rate is increased. Can anyone help me to find more details about increasing the speed?

Thanks!

#include "FastAccelStepper.h"
#include <TMCStepper.h>

#define STEP_PIN 2
#define DIR_PIN 15

#define RXD2 16
#define TXD2 17

#define SHAFT true

#define SERIAL_PORT_2 Serial2  // TMC2208/TMC2224 HardwareSerial port - pins 16 & 17
#define DRIVER_ADDRESS_1 0b00    // TMC2209 Driver address according to MS1 and MS2
#define R_SENSE 0.11f          // E_SENSE for current calc, SilentStepStick series use 0.11

FastAccelStepperEngine engine = FastAccelStepperEngine();
FastAccelStepper *stepper = NULL;

TMC2209Stepper driver(&SERIAL_PORT_2, R_SENSE, DRIVER_ADDRESS_1);  // Create TMC driver

int current = 1500;
int stall = 10;
int accel = 8000;
int max_speed = 19000;
int tcools = (3089838.00 * pow(float(max_speed), -1.00161534)) * 1.5;  //*64 after max speed

int motor_microsteps = 16;
int motor_steps_per_rev = 200;

void setup() {
  pinMode(DIR_PIN, OUTPUT);
  pinMode(STEP_PIN, OUTPUT);

  // INTITIALIZE SERIAL0 ITERFACE
  Serial.begin(115200);
  delay(500);
  Serial.println(F("---------------------------------------------------"));
  Serial.println(F("UART0 serial output interface intitialized @ 115200"));

  // INITIALIZE SERIAL2 UART FOR TMC2209
  SERIAL_PORT_2.begin(115200);  // INITIALIZE UART TMC2209, SERIAL_8N1, 16, 17
  Serial.println(F("UART2 interface for TMC2209 intitialized   @ 115200"));
  Serial.println(F("---------------------------------------------------"));

  //TMCSTEPPER SETTINGS
  driver.begin();
  driver.pdn_disable(true);      // Use PDN/UART pin for communication
  driver.toff(5);                // [1..15] enable driver in software
  driver.blank_time(24);         // [16, 24, 36, 54]
  driver.I_scale_analog(false);  // Use internal voltage reference
  driver.rms_current(current);   // motor RMS current (mA) "rms_current will by default set ihold to 50% of irun but you can set your own ratio with additional second argument; rms_current(1000, 0.3)."

  driver.mstep_reg_select(true);
  read_ms();
  driver.microsteps(motor_microsteps);  //note that MicroPlyer will interpolate to 256
  read_ms();

  driver.TCOOLTHRS(tcools);
  driver.seimin(1);  // minimum current for smart current control 0: 1/2 of IRUN 1: 1/4 of IRUN
  driver.semin(0);
  driver.iholddelay(3);  // 0 - 15 smooth current drop
  driver.shaft(SHAFT);
  driver.intpol(true);  // interpolate to 256 microsteps
  driver.SGTHRS(stall);

  driver.pwm_autoscale(true);    // Needed for stealthChop
  driver.en_spreadCycle(false);  // false = StealthChop / true = SpreadCycle, Spreadcycle can have higher RPM but is louder
  driver.internal_Rsense(false);
  driver.TPWMTHRS(0);

  engine.init();
  stepper = engine.stepperConnectToPin(STEP_PIN);
  stepper->setDirectionPin(DIR_PIN);
  stepper->setAutoEnable(true);

  stepper->setSpeedInHz(max_speed);
  stepper->setAcceleration(accel);
}

//***********************************************************************
void read_ms() {
  uint16_t msread = driver.microsteps();
  Serial.print("Microsteps: ");
  Serial.println(msread);
}
//***********************************************************************

void loop() {

  driver.microsteps(16);
  read_ms();
  driver.VACTUAL(19000);  //SET SPEED OF MOTOR
  delay(3000);            // MOTOR MOVES 2 SEC THEN STOPS


  driver.VACTUAL(0);  //STOP MOTOR BY SETTING SPEED TO 0
  delay(1000);

  driver.microsteps(0);
  read_ms();
  driver.VACTUAL(-19000);  //SET SPEED OF MOTOR
  delay(3000);             // MOTOR MOVES 2 SEC THEN STOPS

  driver.VACTUAL(0);  //STOP MOTOR BY SETTING SPEED TO 0
  delay(1000);
}