TMC2130

Project TMC2130
Guide: Connecting TMC2130 and ESP8266
Status	Completed
Contact	Sttc
Last Update	2020-02-29

Status

Status as of 2020/1/15:

• Completed

Introduction

TMC2130 is utilized for driving a bi-polar step motor in this example.
TMC2130 is a driver module with many functions. This guide explains how to connect TMC2130 directly with ESP8266 via SPI without a motherboard (e.g. MKS Gen L, RAMPS, Einsy Rambo etc.).

Used components:

• TMC2130

Manufacturer: Big Tree Tech
https://www.aliexpress.com/item/32975341864.html?spm=a2g0s.9042311.0.0.5d3e4c4d6bMkco
https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
https://www.dropbox.com/s/xwongsgvshapqaj/TMC2130-V2.0%20spi%20firmware.docx?spm=a2g0o.detail.1000023.19.4fc612156plDrp&dl=0
https://github.com/bigtreetech/BIGTREETECH-TMC2130-V3.0?spm=a2g0o.detail.1000023.18.4fc612156plDrp&file=BIGTREETECH-TMC2130-V3.0

• ESP8266:

LoLin NodeMCU V3 4MB flash ESP8266 12E

More info on ESP8266: https://randomnerdtutorials.com/esp8266-pinout-reference-gpios/

Wiring

TMC2130 board must be modified for SPI communication mode according to manufacturer's instructions

A capacitor in between Vmotor and GND is recommended (here 220µF was used)

Table: Connecting pins between TMC2130, ESP8266, motor and external power supply

TMC2130	ESP8266	Motor	External power
GND	GND
VIO	3V
OA2		MOTOR-A2
OA1		MOTOR-A1
OB1		MOTOR-B1
OB2		MOTOR-B2
GND	GND		GND
VM			Vmotor (+8V)
DIR	D2 (GPIO4)
STEP	D3 (GPIO0)
NC(not connected)	-
SDO(MISO)	D6 (GPIO12)
CSN	D8 (GPIO15)
SCK(SPI CLOCK)	D5 (GPIO14)
SDI(MOSI)	D7 (GPIO13)
EN	D1 (GPIO5)

Code

Required libraries:

• TMC2130Stepper

/**
 * Author Teemu Mäntykallio 
 * Modified by Sttc
 * Initializes the library and turns the motor in alternating directions.
*/
//                       ESP8266
#define EN_PIN    5  //  D1 
#define DIR_PIN   4  //  D2    
#define STEP_PIN  0  //  D3  
#define CS_PIN    15  // D8   
#define MOSI_PIN  13 //  D7
#define MISO_PIN 12 //   D6
#define SCK_PIN  14 //   D5 
 
bool dir = true; 
#include <TMC2130Stepper.h>
TMC2130Stepper driver = TMC2130Stepper(EN_PIN, DIR_PIN, STEP_PIN, CS_PIN, MOSI_PIN, MISO_PIN, SCK_PIN);

void setup() {
  Serial.begin(115200);
  while(!Serial);
  Serial.println("Start...");
  driver.begin();       // Initiate pins and registeries
  driver.rms_current(600);  // Set stepper current to 600mA. The command is the same as command TMC2130.setCurrent(600, 0.11, 0.5);
  driver.stealthChop(1);  // Enable extremely quiet stepping
  driver.microsteps(0);
  //Serial.println(driver.microsteps()); // shows microsteps setting 
  digitalWrite(EN_PIN, LOW);

  //Serial.print("DRV_STATUS=0b");
  //Serial.println(driver.DRV_STATUS(), BIN);
}

void loop() {
  digitalWrite(STEP_PIN, HIGH);
  //delayMicroseconds(10);
  delay(50);
  digitalWrite(STEP_PIN, LOW);
  //delayMicroseconds(10);
  delay(50);
  uint32_t ms = millis();
  static uint32_t last_time = 0;
  if ((ms - last_time) > 3000) {
    if (dir) {
      //Serial.println("Dir -> 0");
      driver.shaft_dir(0);
    } else {
      //Serial.println("Dir -> 1");
      driver.shaft_dir(1);
    }
    dir = !dir;
    last_time = ms;
  } 
}

Remarks

• ESP8266 configuration on Arduino IDE:

esp8266