Hello Mario,
Very nice example.
Will this API compile on Beaglebone or will work with Arduino either?
How about reading encoder pulses by this BOB module – any code is available in API?
And last question: how 5160-BOB is comparable to 2660-BOB – I mean about reading encoder pulses for close loop and also about powering stepper with 2.8A/phase?
Best regards

Mario,
Thank you for valuable information.
This is a very interesting product. I needed some time to break through the documentation. At the beginning I will try to run in mode 2 with an external application and without collecting the signal from the encoder. Then I will try mode 1 and encoder. One more question: if two motion controllers are used for controlling axes X/Y (amateur laser cutter), then both of them must be addressed separately or is there some form of communication between them and the code can be simplified? Will I find the answer to this problem in the API or do I have to implement it myself? In addition, is there any documentation how to electrically connect several axes in such a system using 5160 so that the motion controllers cooperate?
Best regards
Radek

Mario,
I will try to do it then. I would like to make SPI communication using PRU on BBB. I will see how it will go. I do not know just what I can gain from SPI communication. Step/Dir is working very nice at PRU at this moment with BeagleG code from Henner Zeller for example or Replicape project (they using TMC2100 on a cape for BBB -they also use SPI but only for some chipset configuration). Is the use of SPI can improve something here or is it better to stay at TMC2660 with step/dir commands and save some bucks? What do you think?
Best regards
Radek

Mario,
Yes, and this is the reason why I will probably stay with TMC5160. It has all the newest features compacted into one small chip, so for me is very versatile.
Thank you again and I let you know about the effects.
Either way, good job with this API.
Best regards and have a good weekend.
Radek

Hello
I have the following combination:
Landungsbrücke-> TMC4361_eval-> TMC5160_eval
Does the firmware of the Landungsbrücke have to be renewed?
Best regards
Benno

Thanks Mario,
finally found it in the datasheet “TMC5160 DATASHEET (Rev. 1.06 / 2018-JUN-06)” on page 74. So do I understand it (?), when IRUN=31 is put, it takes 32/32 of the max A, e.g. 2.8A(RMS) for the tmc5160-BOB. If e.g. IRUN=15 it takes 16/32 of it, that would be 1.4A(RMS)? Does it work in that way?
Best regards,
Lucas

I’m developing with a 5130-bob, is there anything similar to this for the 5130? Or can I use this example and just change the includes to use 5130.h instead of 5160.h?

I’m running it from a Raspberry Pi.

Thanks, I’ve got the 5130-bob driving a stepper quite nicely after fixing GCONF (basically 04 instead of 0C),however I notice that Your code is pretty basic and only supports a single motor (as mentioned above). I need to support multiple motors (at least 2, preferably 3 or 4),, which physically the pi is quite able to do.

Are you likely to be changing the underlying packages (broadcom driver and wiringpi are both used in the code above).

Can you give me any idea of the likely timescale for a multi motor version!

Dear Mario

We are trying to run this example with no success. The TMC5160_XACTUAL register reads the value that was written on the TMC5160_XTARGET register but the stepper motor does not move whatsoever. We have tried different power supplies, different motors and different raspberry boards. Could you give us a hint on how to debug this?

Hallo Mario,

ich habe ein Problem mit meinem TMC5160 EVAL. Ich habe dies über einen USB-Dongle direkt über SPI angeschlossen. Nun bin ich dabei die Register zu beschreiben und auszulesen. Die Kommunikatzion funktioniert auch soweit, ABER das Problem ist, wenn ich zu Beginn Register auslese, anschließend irgendwelche Register beschreibe und nun zB XACTUAL auslesen möchte, ein Pseudo-Wert angezeigt wird. Auch wenn das Register beim AUslesen nach dem fahren ein anderes ist, wird der gleiche Pseudo-Wert angezeigt. Woran kann das liegen? dies kommt mir sehr komisch vor

Beste Grüße

Hello!
Thanks for the delightful tutorial. I would like to integrate the TMC5160 in an existing project utilizing the STEP/DIR interface – as far as I understand it, the STEP/DIR interface is easily enabled by desoldering R2. Is here also an example for setting the necessary parameters (mainly current and microsteps, plus some Trinamic-specific settings) with a simple microcontroller via SPI in Arduino style?
Yours Wolfi

I’ve written a very basic driver in python for the 5130 using the SPI interface, this is a lot easier to setup and run than the C code example and should be simple to adapt to other chips (like the 5160) that use the same interface technique.

It is available at https://github.com/pootle/tripipy

Hello!
I want to use 2 tmc5160 to drive 2 motors by SPI. The motors should drive the same speed at the same time, but should be able to power of or drive individual.
Now my questions:
-should i better use a master and 2 independent slaves or a star connection(SPI)?
-if i use 2 independent slaves i have to select by CS where i want to read and write and always use motor0 like your example, right?
-if i want to drive in star connection and
#define MOTOR0 //and
#define MOTOR1
will the TMCs become their label (MOTOR0/ MOTOR1) because their interconnection or or how does that operate?
-Can i readily #define MOTOR1 or what i have to respect in exept for the hardware connection?
Best regards,
Rhom

Hello Mario,
thank you for your advice.
I use an independent CS for each IC and the other GPIOS (MOSI; MISO; CLK; DRV_ENN; VCC) are linked, but it doesnt work.
Can you explicate why i have to extend the functions?
Is not only the CS relevant to ensure a correct communication?

…
bcm2835_spi_chipSelect(BCM2835_SPI_CS0); // define CS pin
bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS0, LOW); // set CS polarity to low
bcm2835_spi_chipSelect(BCM2835_SPI_CS1); // define CS pin
bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS1, LOW); // set CS polarity to low
…
Then i initialize the Motor settings (CHOPCONF etc.) for each Controller/ IC.
…
while(1)
{
bcm2835_spi_chipSelect(BCM2835_SPI_CS0;
printf(“Reply of TMC5160: 0x%08x\n”, tmc5160_readInt(MOTOR0, TMC5160_XACTUAL));
tmc5160_writeInt(MOTOR0, TMC5160_XTARGET, 0x0007D000);
bcm2835_spi_chipSelect(BCM2835_SPI_CS1;
printf(“Reply of TMC5160: 0x%08x\n”, tmc5160_readInt(MOTOR0, TMC5160_XACTUAL));
tmc5160_writeInt(MOTOR0, TMC5160_XTARGET, 0x0007D000);
delay(12000);
}
…
The first looping flow let the motors drive but then they are in “hold”.
After the first drive they stay in hold even if i execute the code again.
Iam desperate and dont make any progress, i will be deeply grateful for your help and any solutions!
BR

Hi,
After connecting encoder’s ABN to TMC5160 BOB board and setting the encoder register, how am i able to position directly to encoder positions since XTARGET is the only one register i could found to manipulate position in RAMPMODE0(position mode).
I set ENCMODE = 0x72C and ENC_CONST to 198608 since my encoder’s resolution is 16000; however, sometimes is seems to have some step loss between XCTUAL and X_ENC. Is there any extra setting need to be done?

Incase someone needs it for arduino:

#include
#include “SPI.h”

#define MOTOR0 0 // Motor 0

#define TMC5160_GCONF 0x00
#define TMC5160_CHOPCONF 0x6C
#define TMC5160_IHOLD_IRUN 0x10
#define TMC5160_TPOWERDOWN 0x11
#define TMC5160_TPWMTHRS 0x13

#define TMC5160_VSTART 0x23
#define TMC5160_A1 0x24
#define TMC5160_V1 0x25
#define TMC5160_AMAX 0x26
#define TMC5160_VMAX 0x27
#define TMC5160_DMAX 0x28
#define TMC5160_D1 0x2A
#define TMC5160_VSTOP 0x2B
#define TMC5160_RAMPMODE 0x20
#define TMC5160_MODE_POSITION 0x0

#define TMC5160_XTARGET 0x2D
#define TMC5160_XACTUAL 0x21
#define TMC5160_VACTUAL 0x22

#define CS_PIN 10 //chip select
#define MOSI_PIN 11 //SDI/MOSI (ICSP: 4, Uno: 11, Mega: 51)
#define MISO_PIN 12 //SDO/MISO (ICSP: 1, Uno: 12, Mega: 50)
#define SCK_PIN 13 //CLK/SCK (ICSP: 3, Uno: 13, Mega: 52)

#define EN_PIN 2 //enable (CFG6)

int tmc40bit_readInt(uint8_t motor, uint8_t address);
void tmc40bit_writeInt(uint8_t motor, uint8_t address, int value);

void tmc5160_writeInt(uint8_t motor, uint8_t address, int value);
int tmc5160_readInt(uint8_t motor, uint8_t address);

void setup() {

pinMode(EN_PIN, OUTPUT);
digitalWrite(EN_PIN, LOW);

pinMode(CS_PIN, OUTPUT);
digitalWrite(CS_PIN, HIGH);
pinMode(MOSI_PIN, OUTPUT);
digitalWrite(MOSI_PIN, LOW);
pinMode(MISO_PIN, INPUT);
digitalWrite(MISO_PIN, HIGH);
pinMode(SCK_PIN, OUTPUT);
digitalWrite(SCK_PIN, LOW);

Serial.begin(9600); //init serial port and set baudrate
SPI.begin();
SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));

// MULTISTEP_FILT=1, EN_PWM_MODE=1 enables stealthChop™
tmc5160_writeInt(MOTOR0, TMC5160_GCONF, 0x0000000C);

// TOFF=3, HSTRT=4, HEND=1, TBL=2, CHM=0 (spreadCycle™)
tmc5160_writeInt(MOTOR0, TMC5160_CHOPCONF, 0x000100C3);

// IHOLD=10, IRUN=15 (max. current), IHOLDDELAY=6
tmc5160_writeInt(MOTOR0, TMC5160_IHOLD_IRUN, 0x00080800);

// TPOWERDOWN=10: Delay before power down in stand still
tmc5160_writeInt(MOTOR0, TMC5160_TPOWERDOWN, 0x0000000A);

// TPWMTHRS=500
tmc5160_writeInt(MOTOR0, TMC5160_TPWMTHRS, 0x000001F4);

// Values for speed and acceleration
tmc5160_writeInt(MOTOR0, TMC5160_VSTART, 1);
tmc5160_writeInt(MOTOR0, TMC5160_A1, 5000);
tmc5160_writeInt(MOTOR0, TMC5160_V1, 26843);
tmc5160_writeInt(MOTOR0, TMC5160_AMAX, 5000);
tmc5160_writeInt(MOTOR0, TMC5160_VMAX, 50000);
tmc5160_writeInt(MOTOR0, TMC5160_DMAX, 5000);
tmc5160_writeInt(MOTOR0, TMC5160_D1, 5000);
tmc5160_writeInt(MOTOR0, TMC5160_VSTOP, 10);
//tmc5160_writeInt(MOTOR0, TMC5160_RAMPMODE, TMC5160_MODE_POSITION);
tmc5160_writeInt(MOTOR0, TMC5160_RAMPMODE, 2);

//tmc5160_writeInt(MOTOR0, TMC5160_XTARGET, 0x7FFFFFFF);

}

void loop() {

// // put your main code here, to run repeatedly:
// // put your main code here, to run repeatedly:
// Serial.print(“Reply of TMC5160: “);
// Serial.println(tmc5160_readInt(MOTOR0, TMC5160_XACTUAL));
// tmc5160_writeInt(MOTOR0, TMC5160_XTARGET, 0x0007D000);
// //tmc5160_writeInt(MOTOR0, TMC5160_XTARGET, 0xFFFFFFFF);
// //XTARGET = 512000 -> 10 revolutions with micro step = 256
//
// delay(12000);
//
// Serial.print(“Reply of TMC5160: “);
// Serial.println(tmc5160_readInt(MOTOR0, TMC5160_XACTUAL));
// tmc5160_writeInt(MOTOR0, TMC5160_XTARGET, 0x00000000); //XTARGET=0
//
// delay(12000);
}

void tmc5160_writeDatagram(uint8_t motor, uint8_t address, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t x4)
{
int value = x1;

value <<= 8;
value |= x2;
value <<= 8;
value |= x3;
value <>24));
SPI.transfer(0xFF & (value>>16));
SPI.transfer(0xFF & (value>>8));
SPI.transfer(0xFF & value);

digitalWrite(CS_PIN, HIGH);
}

int tmc40bit_readInt(uint8_t motor, uint8_t address)
{

int value;
// clear write bit
SPI.transfer(address & 0x7F);

value =SPI.transfer(0x00)&0xFF;
value <<= 8;
value |= SPI.transfer(0x00)&0xFF;
value <<= 8;
value |= SPI.transfer(0x00)&0xFF;
value <<= 8;
value |= SPI.transfer(0x00)&0xFF;

return value;
}

I need to connect five of these to a raspberry pi, will that be possible? And is there an easy way to make them work like a 3D Printer = Marlin Firmware?

Hello,

We have purchased the TMC5130, TMC5160 and TMC5161 BOB for evaluation and will decide which best fits our needs, then purchase more. I’ve setup the TMC5160 as shown on here connected to a Raspberry Pi 3B+. After I run make and execute the example all I get is “Reply of TMC5160: 0x0d2000a0, then Reply of TMC5160: 0x0000000, then Reply of TMC5160: 0xba2d00ad which repeats line after line until I Ctl-C out.

I’m not a programmer, so please dumb down to my level if you have any suggestions or ideas what’s going on.

I also would like to run the TMC5130A BOB and TMC5161 BOB to compare the results and behavior, so any suggestions on how to do this with the same relative code is appreciated, but 1st I need to get the TMC-5160 working!!

Thanks in advance,

Best,

Mike

Hi Mario,
I replied earlier but it didn’t get posted.
Yes, I have power but it’s 12v, is this a problem? The motor is a NEMA 17 400 step 2.8a motor. I’ve used this motor at 12v volts with 1 or 1.4a amp current limit with a A4988, DVR8825, & Pololu Tic-500 (MPS6500 chip) all successfully runing from the RPi 3B. I’ve even coding my own control in Python with the Tic-500.

I can’t get the TMC-5160, nor the TMC-5130 to operated at all, even rewired the setup 2 or 3 times with same result. I just rewired the TMC-5160 again and ran the code shown here (with 04 correction indicated) and same result with the inital “Reply of TMC-5160: 0x0d2000a0, then 0x00000000, then never ending sting of 0x7a2d00ad. I ctrl out and reran and the never ending string became 0x02a2d00ad.

Please help as I’m lost as to what to do now!

Best,

Mike