Get your brushed DC motor to run steadily with TMC7300 and PIC32MZ1024EFH064
Motor control – Under control!
Published Mar 07, 2023
Click board™
DC Motor 22 Click
Dev. board
PIC32MZ clicker
Compiler
NECTO Studio
MCU
PIC32MZ1024EFH064
Ensure efficient and reliable BDC operation
A
A
Hardware Overview
How does it work?
DC Motor 22 Click is based on the TMC7300, a low-voltage driver optimized for DC motor control from Analog Devices. The TMC7300 features high power density using integrated power MOSFETs and a complete integrated DC motor control logic for speed control, torque limits, and torque-controlled operation. It is rated for an operating voltage range from 2V to 11V and covers a broad spectrum of embedded applications with up to 2A (2.4A peak) current per motor terminal. This advanced driver ensures efficient and reliable operation for cost-effective and highly competitive solutions. As mentioned before, the TMC7300 operates via simple UART control, with the default baud rate of 115200bps for the data transfer, which allows the operation of two DC motors or a single motor with a double current. The motor is operated by an internal PWM generator,
where the desired duty cycle is programmed via the UART interface. The PWM acts like a dedicated voltage source for the motor, providing complete control over motor velocity and direction by setting the PWM voltage for each motor. This interface also controls the motor torque limit for both motors by setting a common current limit, allowing overloading to be avoided during acceleration safely or when a motor is blocked. There is an addition to this Click board™'s current sensing capability for channels A and B. Based on the populated sense resistors R4 and R5 and the MAX11645 analog-to-digital converter, the user can obtain information on the current value of the channels, processing this information via the I2C interface. In addition, it also uses several mikroBUS™ pins. The Enable feature through the EN pin of the mikroBUS™ socket offers a switch operation
to turn ON/OFF power delivery to the connected load, while the A0 and A1 pins select the UART interface address. It also has a complete set of diagnostic and protection capabilities that supports robust and reliable operation, like short-to-ground protection, short-to-power supply protection, and undervoltage detection reported through the INT pin of the mikroBUS™ socket. This Click board™ can operate with either 3.3V or 5V logic voltage levels selected via the VIO SEL jumper. This way, both 3.3V and 5V capable MCUs can use the communication lines properly. However, the Click board™ comes equipped with a library containing easy-to-use functions and an example code that can be used, as a reference, for further development.
Features overview
Development board
PIC32MZ Clicker is a compact starter development board that brings the flexibility of add-on Click boards™ to your favorite microcontroller, making it a perfect starter kit for implementing your ideas. It comes with an onboard 32-bit PIC32MZ microcontroller with FPU from Microchip, a USB connector, LED indicators, buttons, a mikroProg connector, and a header for interfacing with external electronics. Thanks to its compact design with clear and easy-recognizable silkscreen markings, it provides a fluid and immersive working experience, allowing access anywhere and under
any circumstances. Each part of the PIC32MZ Clicker development kit contains the components necessary for the most efficient operation of the same board. In addition to the possibility of choosing the PIC32MZ Clicker programming method, using USB HID mikroBootloader, or through an external mikroProg connector for PIC, dsPIC, or PIC32 programmer, the Clicker board also includes a clean and regulated power supply module for the development kit. The USB Micro-B connection can provide up to 500mA of current, which is more than enough to operate all onboard
and additional modules. All communication methods that mikroBUS™ itself supports are on this board, including the well-established mikroBUS™ socket, reset button, and several buttons and LED indicators. PIC32MZ Clicker is an integral part of the Mikroe ecosystem, allowing you to create a new application in minutes. Natively supported by Mikroe software tools, it covers many aspects of prototyping thanks to a considerable number of different Click boards™ (over a thousand boards), the number of which is growing every day.
Microcontroller Overview
MCU Card / MCU
Architecture
PIC32
MCU Memory (KB)
1024
Silicon Vendor
Microchip
Pin count
64
RAM (Bytes)
524288
You complete me!
Accessories
DC Gear Motor - 430RPM (3-6V) represents an all-in-one combination of a motor and gearbox, where the addition of gear leads to a reduction of motor speed while increasing the torque output. This gear motor has a spur gearbox, making it a highly reliable solution for applications with lower torque and speed requirements. The most critical parameters for gear motors are speed, torque, and efficiency, which are, in this case, 520RPM with no load and 430RPM at maximum efficiency, alongside a current of 60mA and a torque of 50g.cm. Rated for a 3-6V operational voltage range and clockwise/counterclockwise rotation direction, this motor represents an excellent solution for many functions initially performed by brushed DC motors in robotics, medical equipment, electric door locks, and much more.
Used MCU Pins
mikroBUS™ mapper
Take a closer look
Click board™ Schematic
Step by step
Project assembly
Start by selecting your development board and Click board™. Begin with the PIC32MZ clicker as your development board.
Track your results in real time
Application Output
1. Application Output - In Debug mode, the 'Application Output' window enables real-time data monitoring, offering direct insight into execution results. Ensure proper data display by configuring the environment correctly using the provided tutorial.
2. UART Terminal - Use the UART Terminal to monitor data transmission via a USB to UART converter, allowing direct communication between the Click board™ and your development system. Configure the baud rate and other serial settings according to your project's requirements to ensure proper functionality. For step-by-step setup instructions, refer to the provided tutorial.
3. Plot Output - The Plot feature offers a powerful way to visualize real-time sensor data, enabling trend analysis, debugging, and comparison of multiple data points. To set it up correctly, follow the provided tutorial, which includes a step-by-step example of using the Plot feature to display Click board™ readings. To use the Plot feature in your code, use the function: plot(*insert_graph_name*, variable_name);. This is a general format, and it is up to the user to replace 'insert_graph_name' with the actual graph name and 'variable_name' with the parameter to be displayed.
Software Support
Library Description
This library contains API for DC Motor 22 Click driver.
Key functions:
dcmotor22_set_motor_pwmThis function sets the PWM duty cycle of the selected motor.dcmotor22_get_motor_currentThis function reads the current consumption of the selected motor.dcmotor22_reset_deviceThis function resets the device by toggling the EN pin state.
Open Source
Code example
The complete application code and a ready-to-use project are available through the NECTO Studio Package Manager for direct installation in the NECTO Studio. The application code can also be found on the MIKROE GitHub account.
/*!
* @file main.c
* @brief DC Motor 22 Click Example.
*
* # Description
* This example demonstrates the use of DC Motor 22 click board by controlling the speed
* of both motors over PWM duty cycle as well as displaying the motors current consumption.
*
* The demo application is composed of two sections :
*
* ## Application Init
* Initializes the driver and performs the click default configuration.
*
* ## Application Task
* Controls the motor speed by changing the PWM duty cycle every 5 seconds, and displays
* the motors current consumption. The duty cycle ranges from -100% to +100%.
* Each step will be logged on the USB UART where you can track the program flow.
*
* @author Stefan Filipovic
*
*/
#include "board.h"
#include "log.h"
#include "dcmotor22.h"
static dcmotor22_t dcmotor22;
static log_t logger;
void application_init ( void )
{
log_cfg_t log_cfg; /**< Logger config object. */
dcmotor22_cfg_t dcmotor22_cfg; /**< Click config object. */
/**
* Logger initialization.
* Default baud rate: 115200
* Default log level: LOG_LEVEL_DEBUG
* @note If USB_UART_RX and USB_UART_TX
* are defined as HAL_PIN_NC, you will
* need to define them manually for log to work.
* See @b LOG_MAP_USB_UART macro definition for detailed explanation.
*/
LOG_MAP_USB_UART( log_cfg );
log_init( &logger, &log_cfg );
log_info( &logger, " Application Init " );
// Click initialization.
dcmotor22_cfg_setup( &dcmotor22_cfg );
DCMOTOR22_MAP_MIKROBUS( dcmotor22_cfg, MIKROBUS_1 );
if ( UART_ERROR == dcmotor22_init( &dcmotor22, &dcmotor22_cfg ) )
{
log_error( &logger, " Communication init." );
for ( ; ; );
}
if ( DCMOTOR22_ERROR == dcmotor22_default_cfg ( &dcmotor22 ) )
{
log_error( &logger, " Default configuration." );
for ( ; ; );
}
log_info( &logger, " Application Task " );
}
void application_task ( void )
{
static int16_t pwm_duty = 0;
static int8_t pwm_duty_step = 50;
float current;
log_printf ( &logger, " Motor A\r\n" );
if ( DCMOTOR22_OK == dcmotor22_set_motor_pwm ( &dcmotor22, DCMOTOR22_MOTOR_A, pwm_duty ) )
{
log_printf ( &logger, " PWM duty: %d\r\n", pwm_duty );
}
Delay_ms ( 1000 );
Delay_ms ( 1000 );
if ( DCMOTOR22_OK == dcmotor22_get_motor_current ( &dcmotor22, DCMOTOR22_MOTOR_A, ¤t ) )
{
log_printf ( &logger, " Current: %.3f A\r\n\n", current );
}
Delay_ms ( 500 );
log_printf ( &logger, " Motor B\r\n" );
if ( DCMOTOR22_OK == dcmotor22_set_motor_pwm ( &dcmotor22, DCMOTOR22_MOTOR_B, pwm_duty ) )
{
log_printf ( &logger, " PWM duty: %d\r\n", pwm_duty );
}
Delay_ms ( 1000 );
Delay_ms ( 1000 );
if ( DCMOTOR22_OK == dcmotor22_get_motor_current ( &dcmotor22, DCMOTOR22_MOTOR_B, ¤t ) )
{
log_printf ( &logger, " Current: %.3f A\r\n\n", current );
}
Delay_ms ( 500 );
if ( ( ( pwm_duty + pwm_duty_step ) > DCMOTOR22_MAX_PWM ) || ( ( pwm_duty + pwm_duty_step ) < DCMOTOR22_MIN_PWM ) )
{
pwm_duty_step = -pwm_duty_step;
}
pwm_duty += pwm_duty_step;
}
int main ( void )
{
/* Do not remove this line or clock might not be set correctly. */
#ifdef PREINIT_SUPPORTED
preinit();
#endif
application_init( );
for ( ; ; )
{
application_task( );
}
return 0;
}
// ------------------------------------------------------------------------ END
/*!
* @file main.c
* @brief DC Motor 22 Click Example.
*
* # Description
* This example demonstrates the use of DC Motor 22 click board by controlling the speed
* of both motors over PWM duty cycle as well as displaying the motors current consumption.
*
* The demo application is composed of two sections :
*
* ## Application Init
* Initializes the driver and performs the click default configuration.
*
* ## Application Task
* Controls the motor speed by changing the PWM duty cycle every 5 seconds, and displays
* the motors current consumption. The duty cycle ranges from -100% to +100%.
* Each step will be logged on the USB UART where you can track the program flow.
*
* @author Stefan Filipovic
*
*/
#include "board.h"
#include "log.h"
#include "dcmotor22.h"
static dcmotor22_t dcmotor22;
static log_t logger;
void application_init ( void )
{
log_cfg_t log_cfg; /**< Logger config object. */
dcmotor22_cfg_t dcmotor22_cfg; /**< Click config object. */
/**
* Logger initialization.
* Default baud rate: 115200
* Default log level: LOG_LEVEL_DEBUG
* @note If USB_UART_RX and USB_UART_TX
* are defined as HAL_PIN_NC, you will
* need to define them manually for log to work.
* See @b LOG_MAP_USB_UART macro definition for detailed explanation.
*/
LOG_MAP_USB_UART( log_cfg );
log_init( &logger, &log_cfg );
log_info( &logger, " Application Init " );
// Click initialization.
dcmotor22_cfg_setup( &dcmotor22_cfg );
DCMOTOR22_MAP_MIKROBUS( dcmotor22_cfg, MIKROBUS_1 );
if ( UART_ERROR == dcmotor22_init( &dcmotor22, &dcmotor22_cfg ) )
{
log_error( &logger, " Communication init." );
for ( ; ; );
}
if ( DCMOTOR22_ERROR == dcmotor22_default_cfg ( &dcmotor22 ) )
{
log_error( &logger, " Default configuration." );
for ( ; ; );
}
log_info( &logger, " Application Task " );
}
void application_task ( void )
{
static int16_t pwm_duty = 0;
static int8_t pwm_duty_step = 50;
float current;
log_printf ( &logger, " Motor A\r\n" );
if ( DCMOTOR22_OK == dcmotor22_set_motor_pwm ( &dcmotor22, DCMOTOR22_MOTOR_A, pwm_duty ) )
{
log_printf ( &logger, " PWM duty: %d\r\n", pwm_duty );
}
Delay_ms ( 1000 );
Delay_ms ( 1000 );
if ( DCMOTOR22_OK == dcmotor22_get_motor_current ( &dcmotor22, DCMOTOR22_MOTOR_A, ¤t ) )
{
log_printf ( &logger, " Current: %.3f A\r\n\n", current );
}
Delay_ms ( 500 );
log_printf ( &logger, " Motor B\r\n" );
if ( DCMOTOR22_OK == dcmotor22_set_motor_pwm ( &dcmotor22, DCMOTOR22_MOTOR_B, pwm_duty ) )
{
log_printf ( &logger, " PWM duty: %d\r\n", pwm_duty );
}
Delay_ms ( 1000 );
Delay_ms ( 1000 );
if ( DCMOTOR22_OK == dcmotor22_get_motor_current ( &dcmotor22, DCMOTOR22_MOTOR_B, ¤t ) )
{
log_printf ( &logger, " Current: %.3f A\r\n\n", current );
}
Delay_ms ( 500 );
if ( ( ( pwm_duty + pwm_duty_step ) > DCMOTOR22_MAX_PWM ) || ( ( pwm_duty + pwm_duty_step ) < DCMOTOR22_MIN_PWM ) )
{
pwm_duty_step = -pwm_duty_step;
}
pwm_duty += pwm_duty_step;
}
int main ( void )
{
/* Do not remove this line or clock might not be set correctly. */
#ifdef PREINIT_SUPPORTED
preinit();
#endif
application_init( );
for ( ; ; )
{
application_task( );
}
return 0;
}
// ------------------------------------------------------------------------ END
