Development Board Setup
This document details the specific hardware configuration used for the TMC5160 development board (Trinamic Dev/Eval Kit) referenced in the examples. All tests and examples in this repository are configured by default to match this setup.
📝 Hardware Specifications
| Component | Model / Value | Notes |
|---|---|---|
| Microcontroller | ESP32-C6 / ESP32-S3 | Generic ESP32 dev board |
| Driver Chip | TMC5160 | External MOSFET Driver |
| MOSFETs | BSC072N08NS5 | Low Gate Charge ($Q_g \approx 24nC$, $Q_{gd} \approx 6-8nC$) |
| Motor | 17HS4401S-PG518 | NEMA 17 Stepper with 5.18:1 Planetary Gearbox |
| Sense Resistors | 0.05 $\Omega$ / 1W | Current Sensing Resistors (Changed from standard 0.075) |
| Charge Pump Cap | 22nF / 100V | Connected between VCP and VS |
| Gate Resistors | 10 $\Omega$ 1% | Per gate drive line (Stability) |
| Power Supply | Up to 60V DC | VSA connected to VM (Motor Supply) |
| Logic Power | 5V Input | 5VOUT -> VCC, 3.3V LDO -> VCC_IO |
🔌 Pin Configuration
The software is configured to use the following GPIO mapping by default (defined in examples/esp32/main/test_config/esp32_tmc51x0_test_config.hpp).
SPI Interface
| Signal | ESP32 Pin | TMC5160 Pin | Description | |——–|———–|————-|————-| | MOSI | GPIO 6 | SDI | SPI Data Input | | MISO | GPIO 2 | SDO | SPI Data Output | | SCLK | GPIO 5 | SCK | SPI Clock | | CS | GPIO 18 | CSN | Chip Select (Active Low) |
Control & Diagnostics
| Signal | ESP32 Pin | TMC5160 Pin | Description | |——–|———–|————-|————-| | EN | GPIO 11 | DRV_ENN | Enable (Active Low to enable driver) | | CLK| GPIO 10 | CLK16 | External Clock Input (Ground if using internal) | | DIAG0| GPIO 23 | DIAG0 | Diagnostic Output 0 | | DIAG1| GPIO 15 | DIAG1 | Diagnostic Output 1 |
Hardware-Fixed Pins
These pins determine the communication mode and are hardwired on the board.
| Signal | Level | Description |
|---|---|---|
| SPI_MODE | HIGH | Selects SPI Mode |
| SD_MODE | LOW | Selects Internal Ramp Generator Mode |
⚙️ Critical Driver Settings
Power Stage Configuration
- MOSFET Type: Low Gate Charge ($Q_{gd} < 10nC$) with 10 $\Omega$ Gate Resistors.
- DRVSTRENGTH: 0 (Weakest) - Safe for these MOSFETs.
- BBMTIME: 0 (Minimum) - ~100ns dead time is sufficient.
- BBMCLKS: 0
Motor Current Settings (Sense Resistor = 0.05 $\Omega$)
With the 0.05 $\Omega$ sense resistors, the full-scale current capability is higher than standard boards.
- Full Scale Current ($V_{FS} = 325mV$): $I_{FS} = \frac{0.325V}{0.05\Omega} = 6.5A$
- Global Scaler: 160 (Recommended range)
- Target Run Current: ~1.0A RMS (Safe for 1.68A motor testing)
- $I_{coil} = \frac{325mV}{0.05\Omega} \times \frac{160}{256} \times \frac{IRUN+1}{32}$
- For 1.0A RMS (approx 1.41A Peak):
IRUN$\approx$ 8-9.
- Default Config:
IRUN=8(~1.0A RMS),IHOLD=4(~0.5A RMS).
Mode
- StealthChop: Disabled (SpreadCycle forced) by default in many test suites to prevent startup calibration surges. The fatigue test unit (
fatigue_test_espnow_unit) enables StealthChop after bounds finding for smooth motion.
🐛 Troubleshooting Common Issues
uv_cp=1 (Charge Pump Undervoltage)
If you see this error immediately upon enabling the driver:
- Check Capacitor: Ensure the 22nF/100V capacitor between VCP and VS is present.
- Check Wiring: A short in the motor phases can drag down the supply voltage.
- Voltage Drop: The “Massive Current” surge might be dragging the PSU down. Ensure the PSU is stable at 24V+.
Massive Current Draw at Startup
- Wiring: Verify Motor Phase resistance.
- StealthChop: Disable StealthChop (
en_pwm_mode=0) to avoid the calibration current surge.
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