How to drive a stepper motor with your Arduino Mega using a TMC5130-EVAL

Only a few wires including an SPI port are required to control TMC5130-EVAL with your Arduino. Here are the few steps required to get started.

Preparation

If your Arduino is a 5V type you have to resolder one resistor on the TMC5130-EVAL from position R3 to R8. This sets the logic level of the TMC5130 to +5V. While by default the resistor is soldered to the “right-hand” position, you have to move it to the “left-hand” position for 5V operation.

Illustration 1 – Extract from TMC5130-EVAL schematic

tmc5130-eval-logic-level-resistor — Illustration 2 – Position of the logic level resistor on the TMC5130-EVAL board

Wiring

The wiring is very simple. You will need 8 jumper wires. To make the wiring more easy you can print out the TMC5130-EVAL_Pinning.pdf and cut out the template to mount it on the connector header of the TMC5130-EVAL (As seen on illustration 4). As a reference you can use the TMC5130-Eval_v15_01_Schematic.pdf. Here you’ll find the signals that are on each pin. The configuration is documented in the comment section of the Arduino code.

Illustration 3 – Pinheader of TMC5130-EVAL

Illustration 4 – TMC5130 wired up with Arduino Mega 2560

Cable colors of illustration 4
+5V –> red
GND –> blue
SDO –> yellow
SDI –> orange
SCK –> white
CSN –> grey
DRV_ENN –> black
CLK16 –> green

Arduino Code

The Arduino Code below does not need any additional libraries. The SPI library comes with the Arduino IDE. The program initializes the TMC5130 and executes a simple move to position cycle. It will rotate a 200 full step motor 10 revolutions to the one and 10 revolutions to the other direction depending on the wiring of the stepper motor. Please use either the TMC5130 datasheet or the TMCL IDE as a reference for the different registers.

#include <SPI.h>
#include "TMC5130_registers.h"

/* The trinamic TMC5130 motor controller and driver operates through an 
 * SPI interface. Each datagram is sent to the device as an address byte
 * followed by 4 data bytes. This is 40 bits (8 bit address and 32 bit word).
 * Each register is specified by a one byte (MSB) address: 0 for read, 1 for 
 * write. The MSB is transmitted first on the rising edge of SCK.
 * 
 * Arduino Pins Eval Board Pins
 * 51 MOSI 32 SPI1_SDI
 * 50 MISO 33 SPI1_SDO
 * 52 SCK 31 SPI1_SCK
 * 25 CS 30 SPI1_CSN
 * 17 DIO 8 DIO0 (DRV_ENN)
 * 11 DIO 23 CLK16
 * GND 2 GND
 * +5V 5 +5V
 */


int chipCS = 25;
const byte CLOCKOUT = 11;
int enable = 17;

void setup() {
 // put your setup code here, to run once:
 pinMode(chipCS,OUTPUT);
 pinMode(CLOCKOUT,OUTPUT);
 pinMode(enable, OUTPUT);
 digitalWrite(chipCS,HIGH);
 digitalWrite(enable,LOW);

 //set up Timer1
 TCCR1A = bit (COM1A0); //toggle OC1A on Compare Match
 TCCR1B = bit (WGM12) | bit (CS10); //CTC, no prescaling
 OCR1A = 0; //output every cycle

 SPI.setBitOrder(MSBFIRST);
 SPI.setClockDivider(SPI_CLOCK_DIV8);
 SPI.setDataMode(SPI_MODE3);
 SPI.begin();

 Serial.begin(9600);

 sendData(0x80,0x00000000); //GCONF

 sendData(0xEC,0x000101D5); //CHOPCONF: TOFF=5, HSTRT=5, HEND=3, TBL=2, CHM=0 (spreadcycle)
 sendData(0x90,0x00070603); //IHOLD_IRUN: IHOLD=3, IRUN=10 (max.current), IHOLDDELAY=6
 sendData(0x91,0x0000000A); //TPOWERDOWN=10

 sendData(0xF0,0x00000000); // PWMCONF
 //sendData(0xF0,0x000401C8); //PWM_CONF: AUTO=1, 2/1024 Fclk, Switch amp limit=200, grad=1

 sendData(0xA4,0x000003E8); //A1=1000
 sendData(0xA5,0x000186A0); //V1=100000
 sendData(0xA6,0x0000C350); //AMAX=50000
 sendData(0xA7,0x000186A0); //VMAX=100000
 sendData(0xAA,0x00000578); //D1=1400
 sendData(0xAB,0x0000000A); //VSTOP=10

 sendData(0xA0,0x00000000); //RAMPMODE=0

 sendData(0xA1,0x00000000); //XACTUAL=0
 sendData(0xAD,0x00000000); //XTARGET=0
}

void loop()
{
 // put your main code here, to run repeatedly:
 sendData(0xAD,0x0007D000); //XTARGET=512000 | 10 revolutions with micro step = 256
 delay(20000);
 sendData(0x21,0x00000000);
 sendData(0xAD,0x00000000); //XTARGET=0
 delay(20000);
 sendData(0x21,0x00000000);
}

void sendData(unsigned long address, unsigned long datagram)
{
 //TMC5130 takes 40 bit data: 8 address and 32 data

 delay(100);
 uint8_t stat;
 unsigned long i_datagram;

 digitalWrite(chipCS,LOW);
 delayMicroseconds(10);

 stat = SPI.transfer(address);

 i_datagram |= SPI.transfer((datagram >> 24) & 0xff);
 i_datagram <<= 8;
 i_datagram |= SPI.transfer((datagram >> 16) & 0xff);
 i_datagram <<= 8;
 i_datagram |= SPI.transfer((datagram >> 8) & 0xff);
 i_datagram <<= 8;
 i_datagram |= SPI.transfer((datagram) & 0xff);
 digitalWrite(chipCS,HIGH);

 Serial.print("Received: ");
 PrintHex40(stat, i_datagram);
 Serial.print("\n");
 Serial.print(" from register: ");
 Serial.println(address,HEX);
}

void PrintHex40(uint8_t stat, uint32_t data) // prints 40-bit data in hex with leading zeroes
{
 char tmp[16];
 uint16_t LSB = data & 0xffff;
 uint16_t MSB = data >> 16;
 sprintf(tmp, "0x%.2X%.4X%.4X", stat, MSB, LSB);
 Serial.print(tmp);
}

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#include <SPI.h>

#include "TMC5130_registers.h"

/* The trinamic TMC5130 motor controller and driver operates through an

* SPI interface. Each datagram is sent to the device as an address byte

* followed by 4 data bytes. This is 40 bits (8 bit address and 32 bit word).

* Each register is specified by a one byte (MSB) address: 0 for read, 1 for

* write. The MSB is transmitted first on the rising edge of SCK.

* Arduino Pins Eval Board Pins

* 51 MOSI 32 SPI1_SDI

* 50 MISO 33 SPI1_SDO

* 52 SCK 31 SPI1_SCK

* 25 CS 30 SPI1_CSN

* 17 DIO 8 DIO0 (DRV_ENN)

* 11 DIO 23 CLK16

* GND 2 GND

* +5V 5 +5V

int chipCS = 25;

const byte CLOCKOUT = 11;

int enable = 17;

void setup() {

// put your setup code here, to run once:

pinMode(chipCS,OUTPUT);

pinMode(CLOCKOUT,OUTPUT);

pinMode(enable, OUTPUT);

digitalWrite(chipCS,HIGH);

digitalWrite(enable,LOW);

//set up Timer1

TCCR1A = bit (COM1A0); //toggle OC1A on Compare Match

TCCR1B = bit (WGM12) | bit (CS10); //CTC, no prescaling

OCR1A = 0; //output every cycle

SPI.setBitOrder(MSBFIRST);

SPI.setClockDivider(SPI_CLOCK_DIV8);

SPI.setDataMode(SPI_MODE3);

SPI.begin();

Serial.begin(9600);

sendData(0x80,0x00000000); //GCONF

sendData(0xEC,0x000101D5); //CHOPCONF: TOFF=5, HSTRT=5, HEND=3, TBL=2, CHM=0 (spreadcycle)

sendData(0x90,0x00070603); //IHOLD_IRUN: IHOLD=3, IRUN=10 (max.current), IHOLDDELAY=6

sendData(0x91,0x0000000A); //TPOWERDOWN=10

sendData(0xF0,0x00000000); // PWMCONF

//sendData(0xF0,0x000401C8); //PWM_CONF: AUTO=1, 2/1024 Fclk, Switch amp limit=200, grad=1

sendData(0xA4,0x000003E8); //A1=1000

sendData(0xA5,0x000186A0); //V1=100000

sendData(0xA6,0x0000C350); //AMAX=50000

sendData(0xA7,0x000186A0); //VMAX=100000

sendData(0xAA,0x00000578); //D1=1400

sendData(0xAB,0x0000000A); //VSTOP=10

sendData(0xA0,0x00000000); //RAMPMODE=0

sendData(0xA1,0x00000000); //XACTUAL=0

sendData(0xAD,0x00000000); //XTARGET=0

}

void loop()

{

// put your main code here, to run repeatedly:

sendData(0xAD,0x0007D000); //XTARGET=512000 | 10 revolutions with micro step = 256

delay(20000);

sendData(0x21,0x00000000);

sendData(0xAD,0x00000000); //XTARGET=0

delay(20000);

sendData(0x21,0x00000000);

}

void sendData(unsigned long address, unsigned long datagram)

{

//TMC5130 takes 40 bit data: 8 address and 32 data

delay(100);

uint8_t stat;

unsigned long i_datagram;

digitalWrite(chipCS,LOW);

delayMicroseconds(10);

stat = SPI.transfer(address);

i_datagram |= SPI.transfer((datagram >> 24) & 0xff);

i_datagram <<= 8;

i_datagram |= SPI.transfer((datagram >> 16) & 0xff);

i_datagram <<= 8;

i_datagram |= SPI.transfer((datagram >> 8) & 0xff);

i_datagram <<= 8;

i_datagram |= SPI.transfer((datagram) & 0xff);

digitalWrite(chipCS,HIGH);

Serial.print("Received: ");

PrintHex40(stat, i_datagram);

Serial.print("\n");

Serial.print(" from register: ");

Serial.println(address,HEX);

}

void PrintHex40(uint8_t stat, uint32_t data) // prints 40-bit data in hex with leading zeroes

{

char tmp[16];

uint16_t LSB = data & 0xffff;

uint16_t MSB = data >> 16;

sprintf(tmp, "0x%.2X%.4X%.4X", stat, MSB, LSB);

Serial.print(tmp);

}

Download

The Arduino and TMC5130 zip file includes the pinning template, the TMC5130-EVAL schematic and the Arduino project.

Convertini May 30, 2017 at 10:05 am Reply

Hi,
if I attempt to compile this code I get this error message.
Arduino: 1.8.2 (Windows 8.1), Board: “Arduino Due (Programming Port)”

C:\Users\iRES-PC\Downloads\TMC5130-EVAL\TMC5130-EVAL.ino: In function ‘void setup()’:

TMC5130-EVAL:34: error: ‘TCCR1A’ was not declared in this scope

TCCR1A = bit (COM1A0); //toggle OC1A on Compare Match

In file included from C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/Arduino.h:44:0,

from sketch\TMC5130-EVAL.ino.cpp:1:

TMC5130-EVAL:34: error: ‘COM1A0’ was not declared in this scope

TCCR1A = bit (COM1A0); //toggle OC1A on Compare Match

C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/wiring_constants.h:93:25: note: in definition of macro ‘bit’

#define bit(b) (1UL << (b))

TMC5130-EVAL:35: error: 'TCCR1B' was not declared in this scope

TCCR1B = bit (WGM12) | bit (CS10); //CTC, no prescaling

In file included from C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/Arduino.h:44:0,

from sketch\TMC5130-EVAL.ino.cpp:1:

TMC5130-EVAL:35: error: 'WGM12' was not declared in this scope

TCCR1B = bit (WGM12) | bit (CS10); //CTC, no prescaling

C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/wiring_constants.h:93:25: note: in definition of macro 'bit'

#define bit(b) (1UL << (b))

TMC5130-EVAL:35: error: 'CS10' was not declared in this scope

TCCR1B = bit (WGM12) | bit (CS10); //CTC, no prescaling

C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/wiring_constants.h:93:25: note: in definition of macro 'bit'

#define bit(b) (1UL < Preferences.

3 Comments

Lars Jaskulski April 6, 2017 at 9:55 am Reply

The next guide will explain howto use your Raspberry Pi 2 or 3 to communicate with the TMC5130-EVAL and turn the motor with a certain speed in velocity mode by the end of this week.
Convertini May 30, 2017 at 10:05 am Reply

Hi,
if I attempt to compile this code I get this error message.
Arduino: 1.8.2 (Windows 8.1), Board: “Arduino Due (Programming Port)”

C:\Users\iRES-PC\Downloads\TMC5130-EVAL\TMC5130-EVAL.ino: In function ‘void setup()’:

TMC5130-EVAL:34: error: ‘TCCR1A’ was not declared in this scope

TCCR1A = bit (COM1A0); //toggle OC1A on Compare Match

^

In file included from C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/Arduino.h:44:0,

from sketch\TMC5130-EVAL.ino.cpp:1:

TMC5130-EVAL:34: error: ‘COM1A0’ was not declared in this scope

TCCR1A = bit (COM1A0); //toggle OC1A on Compare Match

^

C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/wiring_constants.h:93:25: note: in definition of macro ‘bit’

#define bit(b) (1UL << (b))

^

TMC5130-EVAL:35: error: 'TCCR1B' was not declared in this scope

TCCR1B = bit (WGM12) | bit (CS10); //CTC, no prescaling

^

In file included from C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/Arduino.h:44:0,

from sketch\TMC5130-EVAL.ino.cpp:1:

TMC5130-EVAL:35: error: 'WGM12' was not declared in this scope

TCCR1B = bit (WGM12) | bit (CS10); //CTC, no prescaling

^

C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/wiring_constants.h:93:25: note: in definition of macro 'bit'

#define bit(b) (1UL << (b))

^

TMC5130-EVAL:35: error: 'CS10' was not declared in this scope

TCCR1B = bit (WGM12) | bit (CS10); //CTC, no prescaling

^

C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/wiring_constants.h:93:25: note: in definition of macro 'bit'

#define bit(b) (1UL < Preferences.

Lars Jaskulski June 21, 2017 at 3:50 pm Reply

Hi Convertini,

I just double checked with a fresh installation of Arduino IDE V1.8.3 and it compiles fine (with selected Arduino Uno Platform).
From the error message I can see you try it with an Arduino Due which is an ARM platform. The code is based on the AVR. There might be some changes needed in the code.

Did you try with a Arduino Leonardo or Mega?

Best regards,
Lars

How to drive a stepper motor with your Arduino Mega using a TMC5130-EVAL

Preparation

Wiring

Arduino Code

Download

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Preparation

Wiring

Arduino Code

Download

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