Beginner
10 min

Enable smooth and silent operation of connected stepper motors with TMC2130 and ATmega32

Two-phase bipolar stepper motor driver with StealthChop™ for quiet movement

Silent Step 2 Click with EasyAVR v7

Published Jan 25, 2024

Click board™

Silent Step 2 Click

Dev. board

EasyAVR v7

Compiler

NECTO Studio

MCU

ATmega32

A compact and efficient solution for achieving smooth, silent, and precise motor control in diverse industrial applications

A

A

Hardware Overview

How does it work?

Silent Step 2 Click is based on the TMC2130, a high-performance two-phase stepper motor driver from Analog Devices. The highest resolution is 256 microsteps per full step. Some other integrated techniques are SpreadCycle™ as a highly dynamic motor control chopper, DcStep™ as load-dependent speed control, sTallGuard2™ as a high precision sensorless motor load detection, and more. The motor driver supports passive breaking and freewheeling mode. This motor driver also supports a few operating modes that can be used per your needs. Silent Step 2 Click can communicate with the host MCU using a standard 4-wire SPI serial interface. It can also use the

step/direction driver mode, which allows you to control the motor position by sending pulses on the step signal STP pin while indicating the direction on the direction signal DIR pin. The driver uses an external motor power supply of 4.75 up to 43V to power a 2-phase stepper motor up to 2A coil current (2.5A peak). The motor current can be set over the onboard VREF potentiometer. Additional functionalities on this Click board™ are achieved over the PCA9538A, an 8-bit I/O port from NXP. This I/O port communicates with the host MCU over the I2C interface, and you can change the I2C address over the ADDR SEL jumpers. The PCA9538A allows you to control the driver enable

function of the motor driver. It also monitors two driver motors' diagnostic outputs, and if a condition is met (say, stall of the motor), it will interrupt the host MCU over the INT pin. The I/O port can be reset over the RST pin. This Click board™ can operate with either 3.3V or 5V logic voltage levels selected via the VCC SEL jumper. This way, both 3.3V and 5V capable MCUs can use the communication lines properly. Also, this 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.

Silent Step 2 Click hardware overview image

Features overview

Development board

EasyAVR v7 is the seventh generation of AVR development boards specially designed for the needs of rapid development of embedded applications. It supports a wide range of 16-bit AVR microcontrollers from Microchip and has a broad set of unique functions, such as a powerful onboard mikroProg programmer and In-Circuit debugger over USB. The development board is well organized and designed so that the end-user has all the necessary elements in one place, such as switches, buttons, indicators, connectors, and others. With four different connectors for each port, EasyAVR v7 allows you to connect accessory boards, sensors, and custom electronics more

efficiently than ever. Each part of the EasyAVR v7 development board contains the components necessary for the most efficient operation of the same board. An integrated mikroProg, a fast USB 2.0 programmer with mikroICD hardware In-Circuit Debugger, offers many valuable programming/debugging options and seamless integration with the Mikroe software environment. Besides it also includes a clean and regulated power supply block for the development board. It can use a wide range of external power sources, including an external 12V power supply, 7-12V AC or 9-15V DC via DC connector/screw terminals, and a power source via the USB Type-B (USB-B)

connector. Communication options such as USB-UART and RS-232 are also included, alongside the well-established mikroBUS™ standard, three display options (7-segment, graphical, and character-based LCD), and several different DIP sockets which cover a wide range of 16-bit AVR MCUs. EasyAVR v7 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.

EasyAVR v7 horizontal image

Microcontroller Overview

MCU Card / MCU

default

Architecture

AVR

MCU Memory (KB)

32

Silicon Vendor

Microchip

Pin count

40

RAM (Bytes)

2048

You complete me!

Accessories

The 28BYJ-48 is an adaptable 5VDC stepper motor with a compact design, ideal for various applications. It features four phases, a speed variation ratio of 1/64, and a stride angle of 5.625°/64 steps, allowing precise control. The motor operates at a frequency of 100Hz and has a DC resistance of 50Ω ±7% at 25°C. It boasts an idle in-traction frequency greater than 600Hz and an idle out-traction frequency exceeding 1000Hz, ensuring reliability in different scenarios. With a self-positioning torque and in-traction torque both exceeding 34.3mN.m at 120Hz, the 28BYJ-48 offers robust performance. Its friction torque ranges from 600 to 1200 gf.cm, while the pull-in torque is 300 gf.cm. This motor makes a reliable and efficient choice for your stepper motor needs.

Silent Step 2 Click accessories image

Used MCU Pins

mikroBUS™ mapper

Direction Control
PA7
AN
Reset / ID SEL
PA6
RST
SPI Select / ID COMM
PA5
CS
SPI Clock
PB7
SCK
SPI Data OUT
PB6
MISO
SPI Data IN
PB5
MOSI
Power Supply
3.3V
3.3V
Ground
GND
GND
Step Control
PD4
PWM
Interrupt
PD2
INT
NC
NC
TX
NC
NC
RX
I2C Clock
PC0
SCL
I2C Data
PC1
SDA
Power Supply
5V
5V
Ground
GND
GND
1

Take a closer look

Click board™ Schematic

Silent Step 2 Click Schematic schematic

Step by step

Project assembly

EasyAVR v7 front image hardware assembly

Start by selecting your development board and Click board™. Begin with the EasyAVR v7 as your development board.

EasyAVR v7 front image hardware assembly
GNSS2 Click front image hardware assembly
GNSS2 Click complete accessories setup image hardware assembly
EasyAVR v7 Access DIP 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 DIP image step 7 hardware assembly
EasyPIC PRO v7a Display Selection Necto Step 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

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 Silent Step 2 Click driver.

Key functions:

  • silentstep2_rotate_by_angle - Silent Step 2 rotates the shaft through a desired angle function.

  • silentstep2_set_direction - Silent Step 2 sets the clockwise or counterclockwise direction movement function.

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 Silent Step 2 Click example
 *
 * # Description
 * This example demonstrates the use of Silent Step 2 Click board™ 
 * by driving the motor in both directions for a desired rotation angle.
 *
 * The demo application is composed of two sections :
 *
 * ## Application Init
 * The initialization of I2C and SPI module and log UART.
 * After driver initialization, the app sets the default configuration.
 *
 * ## Application Task
 * The application task represents an example that demonstrates 
 * the use of the Silent Step 2 Click board™ with which the user can sequentially move the motor. 
 * The first part of the sequence executes the clockwise/counterclockwise motor movement 
 * for an angle of 90 degrees with a step speed of 50%, 
 * all the way to the last sequence of the same movement routine 
 * of 360 degree angle with a step speed of 90%. 
 * Results are being sent to the UART Terminal, where you can track their changes.
 *
 * @author Nenad Filipovic
 *
 */

#include "board.h"
#include "log.h"
#include "silentstep2.h"

static silentstep2_t silentstep2;
static log_t logger;

// Bipolar stepper motor, resolution of 200 steps per revolution (1.8 degrees)
#define SILENTSTEP2_STEP_RES_200    200

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    silentstep2_cfg_t silentstep2_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.
    silentstep2_cfg_setup( &silentstep2_cfg );
    SILENTSTEP2_MAP_MIKROBUS( silentstep2_cfg, MIKROBUS_1 );
    err_t init_flag = silentstep2_init( &silentstep2, &silentstep2_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    if ( SILENTSTEP2_ERROR == silentstep2_default_cfg ( &silentstep2 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }
    
    log_info( &logger, " Application Task " );
    log_printf( &logger, "-----------------------------\r\n" );
    Delay_ms ( 100 );
}

void application_task ( void )
{
    log_printf( &logger, " Clockwise motion\r\n" );
    log_printf( &logger, " Angle of rotation :  90 degrees\r\n" );
    log_printf( &logger, " Step speed        :  50 %%\r\n" );
    silentstep2_set_direction( &silentstep2, SILENTSTEP2_DIRECTION_CLOCKWISE );
    if ( SILENTSTEP2_OK == silentstep2_rotate_by_angle( &silentstep2, 50, 90, SILENTSTEP2_STEP_RES_200 ) )
    {
        log_printf( &logger, "-----------------------------\r\n" );
        Delay_ms ( 1000 ); 
        Delay_ms ( 1000 );
    }
    
    log_printf( &logger, " Counterclockwise motion\r\n" );
    log_printf( &logger, " Angle of rotation :  180 deg\r\n" );
    log_printf( &logger, " Step speed        :  50 %%\r\n" );
    silentstep2_set_direction( &silentstep2, SILENTSTEP2_DIRECTION_COUNTERCLOCKWISE );
    if ( SILENTSTEP2_OK == silentstep2_rotate_by_angle( &silentstep2, 50, 180, SILENTSTEP2_STEP_RES_200 ) )
    {
        log_printf( &logger, "-----------------------------\r\n" );
        Delay_ms ( 1000 ); 
        Delay_ms ( 1000 );
    }
    
    log_printf( &logger, " Clockwise motion\r\n" );
    log_printf( &logger, " Angle of rotation : 270 deg\r\n" );
    log_printf( &logger, " Step speed        :  50 %% \r\n" );
    silentstep2_set_direction( &silentstep2, SILENTSTEP2_DIRECTION_CLOCKWISE );
    if ( SILENTSTEP2_OK == silentstep2_rotate_by_angle( &silentstep2, 50, 270, SILENTSTEP2_STEP_RES_200 ) )
    {
        log_printf( &logger, "-----------------------------\r\n" );
        Delay_ms ( 1000 ); 
        Delay_ms ( 1000 );
    }
    
    log_printf( &logger, " Counterclockwise motion\r\n" );
    log_printf( &logger, " Angle of rotation : 360 deg\r\n" );
    log_printf( &logger, " Step speed        : 90 %%\r\n" );
    silentstep2_set_direction( &silentstep2, SILENTSTEP2_DIRECTION_COUNTERCLOCKWISE );
    if ( SILENTSTEP2_OK == silentstep2_rotate_by_angle( &silentstep2, 90, 360, SILENTSTEP2_STEP_RES_200 ) )
    {
        log_printf( &logger, "-----------------------------\r\n" );
        Delay_ms ( 1000 ); 
        Delay_ms ( 1000 );
    }
    
    log_printf( &logger, " Clockwise motion\r\n" );
    log_printf( &logger, " Angle of rotation : 360 deg\r\n" );
    log_printf( &logger, " Step speed        : 90 %% \r\n" );
    silentstep2_set_direction( &silentstep2, SILENTSTEP2_DIRECTION_CLOCKWISE );
    if ( SILENTSTEP2_OK == silentstep2_rotate_by_angle( &silentstep2, 90, 360, SILENTSTEP2_STEP_RES_200 ) )
    {
        log_printf( &logger, "-----------------------------\r\n" );
        Delay_ms ( 1000 ); 
        Delay_ms ( 1000 );
    }
}

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

Additional Support

Resources

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