30 min

Develop a high-power motor control system with IR2104S and TM4C129ENCPDT

Mastery of motor control achieved

Driver 2 Click with Fusion for Tiva v8

Published May 27, 2023

Click board™

Driver 2 Click

Development board

Fusion for Tiva v8


NECTO Studio



Don't let limitations hold you back. Take charge of your motors with advanced brushed motor control. Take low-power input, and get high-power output now!



Hardware Overview

How does it work?

Driver 2 Click is based on the IR2104S, a high-voltage, high-speed power MOSFET and IGBT driver with typical 0.21A source and 0.36A sink currents and independent high and low side referenced output channels from Infineon Technologies. A gate driver IR2104S represents a power amplifier that accepts a low-power input from a controller IC and produces a high-current drive input for the gate of a high-power transistor such as a power MOSFET. In essence, it consists of a level shifter in combination with an amplifier. It has many applications, ranging from the DC-DC power supply for high power density and efficiency to a wide range of motor applications such as home appliances, industrial drives, DC brushed and brushless motors, and more. This Click board™ has a logic input compatible with standard CMOS or LSTTL outputs, down to 3.3V logic, and features the additional Shutdown function. The output drivers feature a high pulse current buffer

stage designed for minimum driver cross-conduction. It also possesses a precision voltage comparator, the LM393, with input offset voltage specifications as low as 2.0 mV built to permit a common-mode range–to–ground level with single supply operation from STMicroelectronics. In combination with the INT pin, with the help of this comparator, we can get feedback in case of exceeding the maximum current value on the LOAD terminal (over-current detection). Driver 2 Click operates with the PWM signal that drives the input IN pin of the IR2104S and communicates with MCU with two other pins routed on the INT and CS pins of the mikroBUS™ socket labeled as FB and SD. This Click board™ possesses three connectors, one representing an external power supply labeled as VIN in the range from 12 to 45V. The next one is the gate-driver power supply terminal with a fixed voltage value of 12V, and the last terminal labeled as LOAD is a

terminal that can supply the load with a maximum current of up to 10A. As mentioned before, additional functionality is two pins routed on the CS and INT pins of the mikroBUS™ socket. A signal on the CS pin labeled as SD represents a Shutdown function able to turn off both channels of the IR2104S, while another pin, INT, marked as the FB is an indication, more accurately an interrupt, to the MCU if the maximum value of the output current is exceeded. This Click board™ can only be operated with a 5V logic voltage level. The board must perform appropriate logic voltage level conversion before using MCUs with different logic levels. However, the Click board™ comes equipped with a library containing functions and an example code that can be used as a reference for further development.


Features overview

Development board

Fusion for TIVA v8 is a development board specially designed for the needs of rapid development of embedded applications. It supports a wide range of microcontrollers, such as different 32-bit ARM® Cortex®-M based MCUs from Texas Instruments, regardless of their number of pins, and a broad set of unique functions, such as the first-ever embedded debugger/programmer over a WiFi network. The development board is well organized and designed so that the end-user has all the necessary elements, such as switches, buttons, indicators, connectors, and others, in one place. Thanks to innovative manufacturing technology, Fusion for TIVA v8 provides a fluid and immersive working experience, allowing access

anywhere and under any circumstances at any time. Each part of the Fusion for TIVA v8 development board contains the components necessary for the most efficient operation of the same board. An advanced integrated CODEGRIP programmer/debugger module offers many valuable programming/debugging options, including support for JTAG, SWD, and SWO Trace (Single Wire Output)), and seamless integration with the Mikroe software environment. Besides, it also includes a clean and regulated power supply module for the development board. It can use a wide range of external power sources, including a battery, an external 12V power supply, and a power source via the USB Type-C (USB-C) connector.

Communication options such as USB-UART, USB HOST/DEVICE, CAN (on the MCU card, if supported), and Ethernet is also included. In addition, it also has the well-established mikroBUS™ standard, a standardized socket for the MCU card (SiBRAIN standard), and two display options for the TFT board line of products and character-based LCD. Fusion for TIVA v8 is an integral part of the Mikroe ecosystem for rapid development. Natively supported by Mikroe software tools, it covers many aspects of prototyping and development thanks to a considerable number of different Click boards™ (over a thousand boards), the number of which is growing every day.

Fusion for Tiva v8 horizontal image

Microcontroller Overview

MCU Card / MCU



8th Generation


ARM Cortex-M4

MCU Memory (KB)


Silicon Vendor

Texas Instruments

Pin count


RAM (Bytes)


You complete me!


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 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.

Driver 2 Click accessories image

Used MCU Pins

mikroBUS™ mapper

PWM Signal
Power Supply

Take a closer look


Driver 2 Click Schematic schematic

Step by step

Project assembly

Fusion for PIC v8 front image hardware assembly

Start by selecting your development board and Click board™. Begin with the Fusion for Tiva v8 as your development board.

Fusion for PIC v8 front image hardware assembly
GNSS2 Click front image hardware assembly
SiBRAIN for PIC32MZ1024EFK144 front image hardware assembly
GNSS2 Click complete accessories setup image hardware assembly
v8 SiBRAIN Access MB 1 - upright/background hardware assembly
Necto image step 2 hardware assembly
Necto image step 3 hardware assembly
Necto image step 4 hardware assembly
NECTO Compiler Selection Step Image hardware assembly
NECTO Output Selection Step Image hardware assembly
Necto image step 6 hardware assembly
Necto image step 7 hardware assembly
Necto image step 8 hardware assembly
Necto image step 9 hardware assembly
Necto image step 10 hardware assembly
Necto PreFlash Image hardware assembly

Track your results in real time

Application Output

After pressing the "FLASH" button on the left-side panel, it is necessary to open the UART terminal to display the achieved results. By clicking on the Tools icon in the right-hand panel, multiple different functions are displayed, among which is the UART Terminal. Click on the offered "UART Terminal" icon.

UART Application Output Step 1

Once the UART terminal is opened, the window takes on a new form. At the top of the tab are two buttons, one for adjusting the parameters of the UART terminal and the other for connecting the UART terminal. The tab's lower part is reserved for displaying the achieved results. Before connecting, the terminal has a Disconnected status, indicating that the terminal is not yet active. Before connecting, it is necessary to check the set parameters of the UART terminal. Click on the "OPTIONS" button.

UART Application Output Step 2

In the newly opened UART Terminal Options field, we check if the terminal settings are correct, such as the set port and the Baud rate of UART communication. If the data is not displayed properly, it is possible that the Baud rate value is not set correctly and needs to be adjusted to 115200. If all the parameters are set correctly, click on "CONFIGURE".

UART Application Output Step 3

The next step is to click on the "CONNECT" button, after which the terminal status changes from Disconnected to Connected in green, and the data is displayed in the Received data field.

UART Application Output Step 4

Software Support

Library Description

This library contains API for Driver 2 Click driver.

Key functions:

  • void driver2_set_sd_pin ( uint8_t state ) - Set SD pin
  • void driver2_set_pwm_pin ( uint8_t state ) - Set PWM pin
  • uint8_t driver2_get_fb_pin ( void ) - Get FB pin

Open Source

Code example

This example can be found in NECTO Studio. Feel free to download the code, or you can copy the code below.

 * @file main.c
 * @brief Driver2 Click example
 * # Description
 * This is an example that demonstrates the use of the Driver 2 Click board.
 * The demo application is composed of two sections :
 * ## Application Init
 * Initializes driver module and sets PWM.
 * ## Application Task
 * Start motor example with change in motor speed using changes in PWM duty cycle.
 * @author Stefan Ilic

#include "board.h"
#include "log.h"
#include "driver2.h"

static driver2_t driver2;
static log_t logger;

void application_init ( void ) {
    log_cfg_t log_cfg;  /**< Logger config object. */
    driver2_cfg_t driver2_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.

    driver2_cfg_setup( &driver2_cfg );
    DRIVER2_MAP_MIKROBUS( driver2_cfg, MIKROBUS_1 );
    err_t init_flag  = driver2_init( &driver2, &driver2_cfg );
    if ( PWM_ERROR == init_flag ) {
        log_error( &logger, " Application Init Error. " );
        log_info( &logger, " Please, run program again... " );

        for ( ; ; );

    driver2_default_cfg ( &driver2 );

    driver2_set_duty_cycle ( &driver2, 0.0 );
    driver2_pwm_start( &driver2 );

    log_info( &logger, " Application Task " );

void application_task ( void ) {
    static int8_t duty_cnt = 1;
    static int8_t duty_inc = 1;
    float duty = duty_cnt / 10.0;
    driver2_set_duty_cycle ( &driver2, duty );
    log_printf( &logger, "> Duty: %d%%\r\n", ( uint16_t )( duty_cnt * 10 ) );
    Delay_ms( 500 );
    if ( 10 == duty_cnt ) {
        duty_inc = -1;
    } else if ( 0 == duty_cnt ) {
        duty_inc = 1;
    duty_cnt += duty_inc;

void main ( void ) {
    application_init( );

    for ( ; ; ) {
        application_task( );

// ------------------------------------------------------------------------ END

Additional Support