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LIN-bus HID Lamp
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M68HC08
Microcontrollers
Levelling Stepper
Motor Control Using
Motorola 908E625
Reference Design
Designer Reference
Manual
DRM047
Rev. 0, 12/2003
MOTOROLA.COM/SEMICONDUCTORS
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LIN-bus HID Lamp Levelling
Stepper Motor Control Using
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Motorola 908E625 Reference
Design
Designer Reference Manual — Rev 0
by: Libor Prokop, Petr Cholasta
MCSL, Rosnov
• Motorola and the Motorola logo are registered trademarks of
Motorola, Inc.
®
• Metrowerks
of Metrowerks, Inc., a wholly owned subsidiary of Motorola, Inc.
and the Metrowerks logo are registered trademarks
• CodeWarrior
wholly owned subsidiary of Motorola, Inc.
• Microsoft® is a registered trademark of Microsoft Corporation in
the U.S. and other countries
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®
is a registered trademark of Metrowerks, Inc., a
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Designer Reference Manual DRM047 — Rev 0
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Designer Reference Manual — DRM047
Section 1. Introduction
1.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
1.2 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Table of Contents
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1.3 HID Headlamp Levelling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.4 LIN-bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.5 Definitions and Acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Section 2. System Concept
2.1 System Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
2.2 LIN Stepper Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.3 LIN Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.4 Personal Computer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
Section 3. Hardware Description
3.1 Master Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.2 Slave Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Section 4. Messaging Scheme Description
4.1 Axis and Signal Providers and Acceptors. . . . . . . . . . . . . . . . .35
4.2 LIN Leveller Basic Messaging . . . . . . . . . . . . . . . . . . . . . . . . .36
4.3 LIN Leveller Configuration Messaging . . . . . . . . . . . . . . . . . . .37
Section 5. LIN Master Software Description
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5.1 State Machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
5.2 Data Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
Section 6. LIN Stepper Software Description
6.1 LIN Stepper Software Data Flow . . . . . . . . . . . . . . . . . . . . . . . 51
6.2 LIN Stepper Software Application State Diagram. . . . . . . . . . .62
6.3 LIN Stepper Software Implementation . . . . . . . . . . . . . . . . . . .65
Section 7. User Interface Description
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7.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
7.2 PC Master Software General Overview . . . . . . . . . . . . . . . . . .71
7.3 LIN-bus Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
7.4 Slave Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
7.5 Recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.6 Oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78
7.7 Programming and Configuration. . . . . . . . . . . . . . . . . . . . . . . .83
Section 8. Conclusion
Section 9. References
Appendix A. Hardware Schematics
A.1 LIN Master Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . . .93
A.2 LIN Stepper Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . . 94
Appendix B. 908E625 Advantages and Features
Appendix C. LIN Frames and Signals
C.1 LIN Leveller Basic Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . .97
C.2 Node ID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
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C.3 LIN Leveller Configuration Frames. . . . . . . . . . . . . . . . . . . . .101
C.4 Possible Software Extension Programming via LIN . . . . . . . .108
Appendix D. LIN Stepper Software Data Variables
Appendix E. System Setup
E.1 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115
E.2 Jumper Settings of Master and Slave Boards . . . . . . . . . . . .117
E.3 Required Software Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
E.4 Building and Uploading the Application . . . . . . . . . . . . . . . . . 118
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E.5 Executing the LIN HID Demo Application . . . . . . . . . . . . . . . .120
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Designer Reference Manual — DRM047
Figure Title Page
1-1 System Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
2-1 System Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
2-2 PC Master Software Principle. . . . . . . . . . . . . . . . . . . . . . . . . . 25
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3-1 Master Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3-2 Master Board Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3-3 LIN Stepper (Slave) Board . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
3-4 LIN Stepper Controller (Slave) Board Schematic . . . . . . . . . . .30
3-5 908E625 Blocks Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
5-1 Software State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
5-2 PC Master Mode Data Flow Chart - Part1 . . . . . . . . . . . . . . . . 44
5-3 PC Master Mode Data Flow Chart - Part2 . . . . . . . . . . . . . . . . 46
5-4 Master Mode Data Flow Chart . . . . . . . . . . . . . . . . . . . . . . . . . 47
5-5 Debug Mode Data Flow Chart . . . . . . . . . . . . . . . . . . . . . . . . .49
5-6 Pass Mode Data Flow Chart. . . . . . . . . . . . . . . . . . . . . . . . . . . 50
6-1 LIN Stepper Software - Data Flow 1. . . . . . . . . . . . . . . . . . . . . 53
6-2 Motor Position and Speed Control - Service
Updated Requests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
6-3 Motor Position and Speed Control - Service
Updated Actual Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
6-4 Frequency Acceleration and Deceleration - Flow Chart . . . . . . 58
6-5 LIN Stepper Software - Data Flow 2 - Configuration . . . . . . . .61
6-6 LIN Stepper Software Application State Diagram. . . . . . . . . . . 63
7-1 PC Master Software Main Page . . . . . . . . . . . . . . . . . . . . . . . .72
7-2 LIN-bus Control Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
7-3 Recorder Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78
7-4 Oscilloscope Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
7-5 Programming and Configuration Page . . . . . . . . . . . . . . . . . . .84
8-1 Slow-Fast Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
8-2 Low-High (Amplitude) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . 88
List of Figures
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8-3 Road1 Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
A-1 LIN Master Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . . .93
A-2 LIN Enhanced Stepper Board Schematic. . . . . . . . . . . . . . . . .94
B-1 908E625 Simplified Block Diagram . . . . . . . . . . . . . . . . . . . . . 95
C-1 Configuration Parameters Addressing . . . . . . . . . . . . . . . . . .108
E-1 LIN HID Demo Application . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
E-2 Programming and Debugging Application - Detail . . . . . . . . .117
E-3 Metrowerks Compiler with lin_stepper.mcp . . . . . . . . . . . . . . 119
E-4 Bootloader Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120
E-5 Communication Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121
E-6 Variables Source page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122
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Designer Reference Manual — DRM047
Table Title Page
3-1 Connector J2 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
3-2 Connector J3 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
3-3 Connector J4 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
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5-1 Debug Line Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
6-1 Stepper Controller Software Memory Utilization. . . . . . . . . . . .70
7-1 LIN-bus Control Page and Variable Watch Variables
Comparison - Loop1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
7-2 LIN-bus Control Page and Variable Watch Variables
Comparison - Loop2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
7-3 LIN-bus Control Page and Variable Watch Variables
Comparison - Status Notes and State Buttons . . . . . . . . . . . . .83
C-1 LIN Leveller Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
C-2 LIN Leveller Configuration Frames . . . . . . . . . . . . . . . . . . . . .103
D-1 Stepper Controller Software Data Variables. . . . . . . . . . . . . .111
E-1 Master and Slave Boards Jumper Settings . . . . . . . . . . . . . .117
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Designer Reference Manual — DRM047
1.1 Overview
This reference design describes the development of a LIN based High
Intensity Discharge (HID) headlamp levelling system, which controls the
stepper motors in the lamp module to compensate for the motion of the
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vehicle. (In this implementation, the vehicle’s movement is simulated on
a PC). The design consists of a master control board that is based on a
16-bit HCS12 MCU, a PC with graphical user interface (GUI) and slave
nodes that control the levelling stepper motors (see Section 2. System
Concept for a full description). The slave nodes are driven by an
innovative dual-die product (908E625) that contains an
industry-standard FLASH based, M68HC08 MCU and an SMOS power
die that includes VReg, LIN interface, Hall Sensor interface and
high-side and low-side drivers. (See appendices and data sheet for
additional information.)
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Section 1. Introduction
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Figure 1-1. System Concept
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Introduction
1.2 Summary
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1.3 HID Headlamp Levelling
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The concept of HID lighting levelling, the LIN-bus protocol, and the
general system concept are given to provide the reader with some
valuable background information. The hardware and software (for both
master and slave) are described in detail to allow the design and
implementation to be fully understood. Finally, a description of the user
interface is provided to demonstrate the ease of use and flexibility of the
system.
The reference design demonstrates that the HID lamp levelling system
can be controlled over the LIN-bus, and that several system benefits can
be achieved using this method, compared with the conventional wired
implementation. These benefits include system configuration, as the
software and parameters can be updated over the LIN-bus, and
scalability, as it is easier to add functions to a bus-based application. In
addition, using the 908E625 dual-die device offers a low-cost
implementation, as the system cost is reduced due to the minimal
external hardware required. The 908E625 provides all the functions
necessary to implement the slave nodes, and its small footprint and
on-board FLASH make this device ideal for many stepper motor control
applications.
At the present time, car front lighting systems are changing rapidly.
There are many techniques that can improve visibility under low light
conditions. One of the requirements is automatic vertical beam control.
This is necessary for headlamps based on discharge lamps.
Other systems are Bi-Xenon headlamps. Today’s Bi-Xenon headlamp
operates with one single Xenon bulb and creates both low beam and
high beam. The cut-off is generated via a special shield, which can be
flipped. The shield control is provided by means of an actuator, which
can be a motor or a solenoid.
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The low beam of today’s headlamps is characterized by a specific shape
and distribution regulated by ECE regulations. Independent of the
speed, the type of road, and the weather conditions, the headlamps of
today are always constant. But we will have next generations Advanced
Front Lighting (AFS) systems soon. A new lighting system can be
adopted to this various conditions. The target is to achieve better
visibility at night, when directing the lights according to the steering
wheel angle or due to the speed. To see where the car is going, rather
than putting the light always straight, is the background of this idea. So
we have horizontal beam control. Other systems use an auxiliary
bending lamp. See Section 9. References: 3, 4, 5, 6, 7, and 8.
Introduction
LIN-bus
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1.4 LIN-bus
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Advanced headlamp systems are quite complex. They need
sophisticated optics, sensors and actuators. So, today the system costs
targets their implementation to high-end car segments. If we lower the
cost, we spread them to all car segments. A key factor in lowering the
system cost is integration and the use of reasonable components and
protocols.
This reference design describes a good solution for headlamp levelling
systems based on stepper motor actuators with a possibility of vertical
and also horizontal beam control. The system can benefit from a single
chip solution and communication via low-cost LIN-bus protocol.
All modern car electronic communication is based on serial bus
protocols. These have many advantages over classical wired systems.
For example, a control system with stepper motor actuators can be split
into distributed controllers connected with a single-wire bus. There is no
doubt that this bus system saves on wiring and connectors, so the
system cost is significantly reduced.
The LIN-bus serial communication protocol (see Section 9.
References, 2) was designed for automotive applications, but it can also
be used for other devices (white-goods, printers, and copiers, for
example). In the case of car-body electronics, it is used for
air-conditioning, mirror control, seat control, and light levelling. The
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Introduction
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advantage of LIN-bus over other bus protocols (like CAN) is low system
cost. This is because the LIN-bus protocol is based on standard and
cost-effective serial SCI (UART compatible) hardware modules. These
are implemented on most Motorola MCU/DSP devices. An enhanced
SCI is called ESCI.
Other serial bus protocols like CAN require a specialized hardware
module. They can have higher communication speed than LIN-bus. But
the overall system cost of such systems is much higher. Therefore many
of car electronics systems should be based on LIN-bus protocol.
This reference design shows that the LIN-bus protocol speed is fully
sufficient for a headlamp leveller with a stepper motor actuators. The
advantage versus other bus protocols, such as CAN-bus, is low system
cost.
1.5 Definitions and Acronyms
The definitions and acronyms used in this reference design are listed
below.
(signal) Acceptor the device which receives and responses to
AFS Advanced Front Lighting System
Cairone see Power Die
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ESCI Enhanced Serial Communication Interface
DSP Digital Signal Processor
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ECT Enhanced Capture Timer
HID Lamp High Intensity Density headlamp
LIN Leveller the system described in this reference
a bus signal
design. It consists of the LIN master and
LIN stepper controllers
LIN-bus a local interface network standard for serial
asynchronous communication (see
Section 9. References, 2)
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LIN Master master board with LIN master software
LIN Master Software the LIN-bus master software for stepper
LIN SIO Wire LIN-bus signal (Serial Input Output) wire
LIN Stepper Controller LIN-bus slave board with General Purpose
LIN Stepper Software the LIN-bus slave stepper motor control
LIN Stepper Board slave stepper board hardware for LIN slave
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Introduction
Definitions and Acronyms
motors control and communication
IC 908E625 with LIN Stepper software
software for 908E625 described in this AN
stepper controller. The PCB layout is same
as LIN Enhanced Stepper Board. Some
parts are not populated.
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LIN Enhanced Stepper
Board
LIN Master Board master board hardware for LIN Master
MCU microcomputer unit
PCB printed circuit board
Power Die part of 908E625 with H-bridges LIN
SCI Serial Communication Interface module
(signal) provider the device which send the slave task of the
slave stepper board hardware for LIN
Master with sensor connector and other
components
physical layer high-side switch connected
to the MCU part with SPI interface. In some
references, the Power Die chip is called
Cairone
(outside Motorola called also UART)
bus signal
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Introduction
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Designer Reference Manual — DRM047
The system application was designed to control stepper motor actuators
from a GUI running on a PC. The PC is connected to the LIN Master
board via RS232 serial ports and they form the master controller. The
LIN Master board is then connected to the LIN Stepper Controller slaves
via a serial single-wire LIN-bus. The master controller can handle
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several stepper motor actuators, so it can demonstrate levelling of two
headlamps around vertical and horizontal axes. Each actuator consists
of one stepper motor and LIN Stepper Controller slave node. The
actuators control positioning around a dedicated axis.
Section 2. System Concept
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The control system consists of the following modules:
• Personal Computer
• LIN Master – LIN master node
• LIN Stepper Controller – LIN slave node
Each module is programmed with dedicated software.
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System Concept
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RS232
RS232
LIN Master Board
LIN Master Board
LIN physical
LIN physical
interface
interface
HC12 CPU
HC12 CPU
RS-232
RS-232
Application Control GUI
Application Control GUI
pc master s/w
pc master s/w
Master HC12 S/W
Master HC12 S/W
LIN Stepper
LIN Stepper
Slave HC08 S/W
Slave HC08 S/W
LIN bus
LIN bus
Stepper
Stepper
LIN Stepper Controller
LIN Stepper Controller
Axis 2
Axis 2
LIN Stepper Board
LIN Stepper Board
PM908E625
PM908E625
Stepper
Stepper
Axis 3
Axis 3
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2.1 System Features
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Program/
Program/
Debugging
Debugging
Interface
Interface
Stepper
Stepper
Axis 1_1
Axis 1_1
Head Lamp R Head Lamp L
Head Lamp R Head Lamp L
Stepper
Stepper
Axis 1_2
Axis 1_2
Figure 2-1. System Concept
• LIN-bus Interface rev 1.2
• Bus speed 19.2 kbps
• Slave IC without external crystal or resonator
• Slave node clock synchronization ±15%
• Each LIN slave controls one biphase bipolar stepper motor
• Motor phase current limitation up to 700 mA
• Supply voltage 12 V d.c.
• Stepper motor control with stepping acceleration and deceleration
ramp
• Stepping frequency up to 2500 Hz
• Slave parameters configuration via LIN-bus
• Slave LIN signals reconfiguration via LIN-bus
• LIN signals defined for 2D control with 3 (and “half”) axes
• Embedded code written in C-language
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2.2 LIN Stepper Controller
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The LIN Stepper Controller is the LIN-bus slave node. It does the
following:
• controls bi-phase bipolar stepper motors to a required position
• communicates with the master node via LIN-bus
• provides LIN-bus clock synchronization (the slave node uses
• provides parameters configuration/programming via LIN-bus
• provides LIN signals reconfiguration via LIN-bus to a required axis
System Concept
LIN Stepper Controller
with automatic speed acceleration and deceleration
internal on-chip oscillator with no external components)
when requested by LIN-bus configuration signals
when requested by LIN-bus configuration signals
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All the necessary hardware of this LIN-bus slave node is comprised in
one SOIC 54-lead packaged 908E625, with some external connectors
and capacitors. The 908E625 includes the Motorola M68HC08 core, and
its functionality is determined by the LIN Stepper software.
The software provides all control functionality for stepper positioning
control. The absolute required position and maximum speed are
determined by LIN signals from the master.
The LIN Stepper Controller clock is based on an internal RC on-chip
oscillator. Therefore, the LIN-bus driver (using the ESCI module on
908E625) can handle the LIN-bus clock synchronization range
according to the LIN-bus specification 1.2. (see Section 9. References,
2)
The LIN stepper controller has the capability to change some
configuration parameters via the LIN-bus. These parameters can be
stored in FLASH memory. For this purpose, there are LIN-bus
configuration signals (Master Request and Slave Response frames —
see Section 5. LIN Master Software Description) defined for the
system.
• node ID number (0 to 255)
• uAppConfigByte1
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MOTOROLA System Concept 21
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System Concept
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Freescale Semiconductor, Inc.
• motor block and run current limitation
• motor stepping start frequency
• motor stepping acceleration
• period motor stop time-out
• motor stall position
• motor parking position
• motor position correction
Four groups of LIN signal frames are defined to control the dedicated
axis:
• Axis 1_1 (to be used as horizontal axis, right lamp) signals group
cale Semiconductor,
2.3 LIN Master
Frees
• Axis 1_2 (to be used as horizontal axis, left lamp) signals group
• Axis 2 (to be used as vertical axis, right lamp) signals group
• Axis 3 (to be used as vertical axis, left lamp) signals group
The reconfiguration of the LIN signals (see above) means that the slave
can be programmed to be active only on one of the four signal groups
(so it ignores signals for other actuators). This signal group can also be
chosen from the LIN-bus master with the LIN-bus configuration signals
(Master Request and Slave Response frames). The benefit of this
solution is that there can be one universal controller software for any axis
actuator. It can then be configured via LIN-bus for any axis, as required.
The function of the master board depends on the selected mode, chosen
by means of a jumper on the board (see Section 3.1. Master Board).
The modes are as follows:
• PC master mode (PCM)
• Master mode (M)
• Debug mode (D)
• Pass mode (P)
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2.3.1 PC Master Mode
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The master board is connected via an RS232 line to the PC (with
installed PC master software), and acts as a LIN Master node controlled
by the user interface (HTML page).
The LIN Master performs the following functions:
• LIN-bus Run/Stop/Sleep/Wake-up control
• Periodical sending/receiving of up to 2*3 LIN-bus frames within
• Possibly fully control the position of up to two independent LIN
• Manual or automatic generation of the required position of LIN
System Concept
LIN Master
two timing loops
steppers
stepper. In the case of automatic generation, a read-out of a
predefined signal curve (simulation of real application) is provided
2.3.2 Master Mode
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2.3.3 Debug Mode
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• LIN Stepper configuration and programing (using master request,
slave response frames defined for this application)
The master board acts as a an autonomous LIN Master node (without
using a personal computer). It is similar to the PC master mode in
automatic mode (automatic generation of the required position of the LIN
Stepper).
In this mode it is possible to program and debug any LIN Stepper
controller via a special 10-pin connector. The LIN Master performs the
following two functions:
• it gives some defined signals to the 10-pin connector to put the LIN
Stepper controller into MON08 debugging mode (see Section 9.
References, 10, Section 10. Monitor ROM).
• it provides a serial communication gateway between the personal
computer (using RS232 line) and the 10 pin connector
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MOTOROLA System Concept 23
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System Concept
2.3.4 Pass Mode
2.4 Personal Computer
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Freescale Semiconductor, Inc.
The personal computer provides software download or debugging with
a dedicated programming (e.g. Pemicro) or debugging software (e.g.
Metrowerks Hiwave Debugger)
Master board acts as a gateway between RS232 and LIN-bus (copy
signals between RS232 and LIN-bus). The mode can be used, if LIN-bus
protocol is implemented in the personal computer.
The personal computer is used for application control using a graphical
user interface. The PC host computer communicates with the LIN
Master via the RS232 serial port.
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The graphical user interface is implemented as an HTML script running
on PC master software (see Section 9. References, 1). The PC master
software is a universal software tool for communication between the
personal computer and embedded applications based on an MCU or
DSP. The principle of the PC master software is shown in Figure 2-2.
Designer Reference Manual DRM047 — Rev 0
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System Concept
Personal Computer
Personal Computer
GUI Control Page - html
LIN Master API
transferred LIN Master variables (any)
PC master software
RS232
LIN Master
LIN Master software
PC master software
Driver
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LIN Master variables
Master Application
Figure 2-2. PC Master Software Principle
It consists of a PC master software running on a PC and a PC master
software driver with protocol implementation running on the LIN Master.
The driver is implemented as a resident software routine (interrupt
based) included in the LIN Master software. The communication medium
is RS232 in this headlamp levelling application.
The basic feature of the PC master software is that all the MCU/DSP
variables can be easily transferred to the personal computer for reading
or modification. The user can simply specify which of them will be
read/modified and the period of each variable reading.
NOTE: The PC master software provides a communication layer between any
LIN Master software variables and the graphical interface control page,
which is written in HTML language.
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System Concept
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Freescale Semiconductor, Inc.
The LIN Master application interface (API) is then a defined set of LIN
Master variables. The GUI is then realized as an HTML script file, which
reads/modifies the variables in the API. The graphical user interface is
described in Section 7. User Interface Description.
cale Semiconductor,
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Designer Reference Manual — DRM047
3.1 Master Board
The master board (Figure 3-1) is supplied with 12 V from an external
source and can switch LIN supply currents up to 5 A. It can be used in
four different modes, as described in Section 2.3. LIN Master,
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depending on position of the jumper on the MODE SELECTION header
(currently PCM -> PC master mode). After each change of mode, the
RESET button must be pressed.
Section 3. Hardware Description
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MODE SELECTION
RS232
MONs
Figure 3-1. Master Board
BUTTON
DEBUG
+12V
LINRESET
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Hardware Description
The heart of the system (see Figure 3-2) is the 16-bit MC9S12DP256B
MCU (see Section 9. References, 12), which is supported by the bus
drivers and power stage. The MC33399 (see Section 9. References,
11) is used as the LIN interface, and can drive up to 16 slaves.
Freescale Semiconductor, Inc.
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3.2 Slave Board
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RS232
physical
interface
RS232
+12V
This board is protected against incorrect supply voltage polarity and
provides this feature to all LIN Stepper Controllers supplied by the
Master Board.
The LIN Stepper Controller hardware is based on the 908E625 device.
The hardware consists only of few components as shown in Figure 3-3.
It is due to the fact that all the functionality is provided by the 908E625
device.
Power
stage
Figure 3-2. Master Board Concept
Microcontroller
MC9S12DP256B
Debug
physical
interface
LIN
physical
interface
Debug
LIN
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J2 - Debugging
J2 - LIN
Hardware Description
Slave Board
J3 - Motor
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Figure 3-3. LIN Stepper (Slave) Board
CAUTION: A slave board based on 908E625 can be even smaller than the LIN
Enhanced Stepper Board. The PCB from Figure 3-3 is universal.
The sensor support - connector J4 and resistors R2, R1 from Figure A-2
are not populated. It ‘s because they are not used for current LIN Stepper
Controller with the LIN Stepper software.
Also the LED diode D1, R4 and headers J5, J6 are not necessary for
system functionality.
The PCB layout was designed as an universal LIN Enhanced Stepper
Board according the schematics in Figure A-2. It has some additional
sensor inputs. This could be used for some applications with a Hall
sensor or analog signal feedback.
The LIN Stepper Controller does not use any sensor feedback. The
schematics of the LIN Stepper Board s displayed in Figure 3-4. It uses
the LIN Enhanced Stepper Board PCB layout, but some components are
not populated.
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA Hardware Description 29
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Hardware Description
J1
VSUP_LIN
1
3
2
4
POWER_HDR4
J2
10
9
8
7
6
5
4
3
2
JP1
HDR 2X1
1
IRQ_IN
1
IRQ_RQ
2
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I
CON/10MICROMATCH
cale Semiconductor,
1
J5
HDR 1
PTB4/AD4
PTB3/AD3
PTA1/KBD1
PTA0/KBD0
RST
IRQ_RQ
IRQ_IN
VDD
VSS
PTC4/OSC
Freescale Semiconductor, Inc.
+
C2
330u/35
C1
100p
GND
VDD
BEMF
FGEN
VDD_A
C4
100n
VDD_A
VSS_A
VSS
C3
100n
SSB
SensorA1
SensorA2
RST
U1
20
LIN
42
PTE1/RxD
41
RxD
54
PTA0/KBD0
53
PTA1/KBD1
52
PTA2/KBD2
50
PTA3/KBD3
49
PTA4/KBD4
14
PTA6/SSB
11
PTB1/AD1
8
PTB3/AD3
7
PTB4/AD4
6
PTB5/AD5
2
PTB6/AD6/TBCH0
1
PTB7/AD7/TBCH1
5
PTC2/MCLK
4
PTC3/OSC2
3
PTC4/OSC1
12
PTD0/TACH0/BEMF
13
PTD1/TACH1
10
RSTB_MCU
17
RSTB_SMOS
9
IRQB_MCU/FLSEPGMN
51
FLSVPP
48
VREFH
47
VDDA
46
EVDD
43
VREFL
44
VSSA
45
EVSS
VSUP
27
24
VSUP
VSUP
GND
GND
30
25
PM908E625ACDWB
GND
31
VSUP
IRQB_SMOS
GC3
CON
HVDD
VDD
FGEN
BEMF
HB1
HB2
HB3
HB4
PA1
VSS
SSB
23
26
29
32
28
HS
39
37
H1
36
H2
35
H3
34
38
+
40
18
19
15
16
33
NC
22
NC
21
NC
C5
2u2/10
IRQ_RQ
SSB
FGEN
BEMF
GC2
CON
GC1
CON
VDD_A
VDD
VSS
VSS_A
Figure 3-4. LIN Stepper Controller (Slave) Board Schematic
The 908E625 schematics with the LIN Stepper Controller functional
blocks is in Figure 3-5. The he functional blocks are described below.
VDD_A
1
2
3
4
5
6
VDD
J3
HDR 6X1
R4
1k5
D1
LED_YELL
Frees
3.2.1 MCU and Power Die with SPI
MCU 908EY16 chip and Power Die chip (Cairone) forms the 908E625
device in one package. These two chips are connected with SPI signals
and some other signals. So the control of the Power Die (like
Half-bridges control) is provided with SPI communication. The SPI
communication pins MISC, MOS, SPCLK are connected inside of the
908E625 package (see Section 9. References, 9).
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MCU 908EY16 Power Die
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SPI
Hardware Description
Slave Board
Stepper
Motor
3.2.2 LIN-bus
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H-bridge
LIN-bus
Figure 3-5. 908E625 Blocks Usage
The LIN-bus is connected to the connector J1. The capacitor C1 filters
the bus and the signal is connected to the pin LIN (20) of the physical
layer. The physical layer is internally connected to the PT0/TXD pin of
the MCU chip. The PTE1/RXD pin 40 is connected to RxD pin 41
externally. The IRQB_SMOS pin 18 from the Power Die module and
IRQB_MCU pin 9 are used to initiate MCU interrupt from the Power Die
chip. In LIN Stepper Controller this is used for MCU wake up from the
sleep via wake-up. Therefore jumper JP1 must be connected for user
(standard operational) mode.
Sensors
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Hardware Description
3.2.3 Software Download and Debugging
Connector J2 is used for software download or debugging. This is based
on so called MON08 mode (see Section 9. References, 10, Section 10
Monitor ROM)
The signals PTB4/AD4, PTB3/AD3, PTA1/KB1, PTA0/KB0, IRQ_IN
must be set according to Table 3-1 to put the MCU into MON08 mode
for software download or debugging (see Section 9. References, 10).
RST is the MCU reset pin. The MON08 mode must be timed with
external clock - PTC4/OSC.
There must be 9V for debugging on the IRQ_IN pin. Therefore the
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jumper JP1 must be open. In user (standard operational) mode the
IRQ_IN must be attached to the IRQ_OUT from the Power Die module.
This is used for some operations like wake-up condition, where the
Power Die module. Therefore JP1 must be closed for user (standard
operational) mode.
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external clock source for the software download and debugging.
Table 3-1. Connector J2 Signals
Pin1 PTC4/OSC is precise clock input for MON08 mode. There must be
Pin No
1 PTC4/OSC 19,6608kHz
2 VSS Ground GND
3 VDD 5V supply 5V
4 In IRQ_IN MCU IRQ Input 9V
5 Out IRQ_RQ
6 In RST MCU Reset input falling edge
7In/Out
8In
Input/
Output
Pin Name Description MON08 mode
PTA0/KB0
PTA1/KB1
Power Die IRQ
output
MON08 mode
MON08 mode GND
jumper JP1 open
serial
communication
19.200 kBaud
9In
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PTB3/AD3
MON08 mode GND
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Table 3-1. Connector J2 Signals
Hardware Description
Slave Board
Pin No
10 In
Input/
Output
Pin Name Description MON08 mode
PTB4/AD4
3.2.4 Stepper Motor Dual H-bridge and High Side Switch
The bi-phase bipolar stepper motor is powered with four half-bridges.
They are attached to the connector J3. The connector pin 6 is high side
switch which can possibly be used for lamp on/off control
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Table 3-2. Connector J3 Signals
Pin No Input/Output Signal range
1GND GND GND
2Out
3Out
4Out
5In
6 In High Side 0-5V
cale Semiconductor,
3.2.5 Power Supply and Decoupling
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The LIN Stepper Controller is powered from LIN-bus connector. The
Power Die has internal voltage regulator with the outputs VDD(pin30)
and VSS (pin 40). This is used to power the analog VDDA,VSSA and
digital part EVDD,EVSS of the MCU chip. The connections and
capacitors C5, C4 were used for decoupling VDD,VSS_A from
VDD_A,VSS_A
MON08 mode
HB1
motor phase 1-1
HB2
motor phase 1-2
HB3
motor phase 2-1
HB4
motor phase 2-1
Vdd = 5V
(via 10k resistor)
0-5V
0-5V
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Hardware Description
3.2.6 Hall Port and Sensor
The LIN Stepper Controller does not use any sensors. Therefore the
connector J4 is not displayed in Figure 3-4. However the LIN Enhanced
Stepper Board (Figure A-2) was designed for possible use of Hall
sensors or analog signals. There is a place for connector J4, resistors
R2, R1.
Table 3-3. Connector J4 Signals
Pin No Input/Output Signal range
1 GND VSS_A GND
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2 In Sensor Analog 1 0-5V
3 In Sensor Hall 1
4 In Sensor Analog 1 0-5V
5 In Sensor Hall 2
6 In Sensor Power Analog 1 0-5V
7 In Sensor Hall 3
8 Output
HVDD Switchable 5V
output to power sensors
5V
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Designer Reference Manual — DRM047
Section 4. Messaging Scheme Description
This section describes LIN messaging.
4.1 Axis and Signal Providers and Acceptors
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As shown in Figure 2-1, each LIN Stepper Controller node has a relation
to the concrete controlled axis. The LIN messaging scheme was
designed to support this concept. Most of the signal in Table C-1 has 3
or 4 modification, which differs only with the identifier byte. Each node is
programmed to be an acceptor (acts upon) and providers (sends the
response fields) for one exclusive signal set. The signal sets are marked
according to the controlled axis:
•A1_1
•A1_2
•A2
•A3
The signal provider and acceptor is determined by the preprogrammed
axis.
A special meaning is given to the horizontal Axis1. It is expected that one
control signal is sufficient for both right and left headlamp. Therefore two
nodes with signal sets Axis1_1 and Axis1_2 are acceptors for Axis1
signals. This uses and demonstrates the LIN-bus multicast concept.
There are two ways to program the LIN Stepper Controller node to a
dedicated axis:
1. Setting appropriate target Axis1_1, Axis1_2, Axis2, Axis3 in the
lin_stepper.mcp file. This will create the compiled code with the
required setting.
DRM047 — Rev 0 Designer Reference Manual
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Messaging Scheme Description
2. using LIN reconfiguration as described in Appendix C.3. LIN
NOTE: The user must guarantee that there will be no other nodes with the same
axis connected to one LIN-bus.
4.2 LIN Leveller Basic Messaging
The basic message frames are used for standard control operation. The
frame provided by master node is:
• frmPosCmd
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The frames provided by slave nodes are:
Leveller Configuration Frames or Section 6.1.9. Reconfig LIN.
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• frmPosStatus
• frmAppStatus
A detailed description of the basic messaging frames and signals is in
Appendix C.1. LIN Leveller Basic Frames.
The scheduling of the signals is determined by the LIN Master. The LIN
Master setting is provided from the PC computer control page and is
described in the Section 7. User Interface Description. The master
serves two messaging loops. Each loop can handle up to three signal
frames (frmPosCmd, frmPosStatus, frmAppStatus). Each of the three
signal frames can be chosen according to a required axis. Any of the
three frames can be disabled.
Loop1 sends signals with period periodeSend_Loop1. This period can
be modified by the control page (see Figure 7-2). If all three frames are
enabled, the LIN Master controls consecutive sending of Loop1 frames
frmPosCmd, frmPosStatus, frmAppStatus immediately after each
other. Then it waits to get the periodeSend_Loop1 between sending. If
Loop2 is also enabled, the three frames of Loop2 are sent after Loop1.
The details are described in the Section 7. User Interface Description.
The default value of the periodeSend_Loop1 is 30 ms.
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4.3 LIN Leveller Configuration Messaging
The Master Request and Slave Response frames are used for the LIN
Stepper Controller configuration. The configuration allows adaptation of
the LIN Stepper software. Each configuration frames is used to configure
the LIN Stepper Controller with node ID equal to the l_u8_rd_nodeID
signal (see Appendix C.3. LIN Leveller Configuration Frames).
The configuration process covers two functions:
• Parameters Configuration
provides upload and download of the control parameter.
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• LIN Reconfiguration
Messaging Scheme Description
LIN Leveller Configuration Messaging
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changes the dedicated LIN Stepper Controller configuration. It sets its
LIN driver to select the frames and signals according to the defined axis.
A detailed description of the configuration messaging frames and signals
is in Appendix C.1. LIN Leveller Basic Frames, Appendix C.3. LIN
Leveller Configuration Frames.
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Messaging Scheme Description
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Designer Reference Manual — DRM047
Section 5. LIN Master Software Description
The software is described in terms of:
• General State machine diagram
• Data flow chart for each Master Board mode
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5.1 State Machine
5.1.1 MCU Initialization
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5.1.2 Mode Selection
Figure 5-1 presents a general description of the implemented software.
The main routine consists of MCU Initialization and Mode selection
procedures.
Provides initialization of the microcontroller:
• Ports A, H (pull-up/pull-down), M (wired-or), P (pull-up), S
initialization
• Phase Locked Loop setup (Core is running on 48MHz)
• Enable global interrupt mask bit
Act as a device mode selection module. It tests the Port A (MODE
SELECTION header, see Section 3.1. Master Board) as long as one
out of four possible values (each of them is corresponding to one mode)
is recognized. The corresponding subroutine is initialized. In that routine
the program is running until reset or power die event. The modes were
described in Section 2.3. LIN Master.
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LIN Master Software Description
5.1.3 PC Master Mode Initialization
The actions are following:
• Turn on LIN supply voltage
• Initialize SCI1 and PC master software driver
• Initialize LIN driver (including initialization of SCI0 and ECT
• Set up ECT (each channels acts as an output compare and
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channel0)
causes the corresponding interrupt):
– channel1 (Loop1 timing)
– channel2 (Loop2 timing)
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– channel3 (PC master software recorder)
• Set all program flow control and state variables
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LIN Master Software Description
State Machine
Timer Channel 3
Interrupt
Run
PC master
Recorder
PC master Interrupt
Reload
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variables
Programming and
Configuration
request
Send/Receive
Programming and
Configuration
frames
5.1.4 Master Mode Initialize
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Reset
Mode Init
Control LIN communication
according to change of variables
by means of PC master
Run request
Enable
Periode timing
interrupts
Wait for
Periode timing
interrupts
MCU Init
Sleep/Wake
request
Send/Receive
LIN frames
PC master
mode
Send
Sleep/Wake-up
LIN frames
Mode
Selection
Master
mode
Mode Init
Debug
mode
Wait for
Periode timing
interrupt
Send/Receive
LIN frames
Pass
mode
between RS232 and LIN
Mode
Init
Exchange data
between RS232 and
Debug line
Figure 5-1. Software State Diagram
Performs:
• Turn on LIN supply voltage
• Initialize LIN driver (including initialization of SCI0 and ECT
channel0)
Mode
Init
Exchange data
• Set up ECT channel1 (Loop1 timing) as an output compare
• Enable ECT channel1 output compare interrupt
• Set all program flow control and state variables
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LIN Master Software Description
5.1.5 Debug Mode Initialization
Sets:
• MONs according to pin states on Port P (see Figure 3-1)
• All program flow control and state variables
5.1.6 Pass Mode Initialization
• Turns on LIN supply voltage
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5.2 Data Flow
I
Four possible modes of the Master Board are discussed below. Each
mode is described with its dedicated flow charts. General overview is
possible gain over Figure 5-1.
5.2.1 PC Master Mode Program Flow
After initialization, the Master Board performs the actions described in
Section 2.3.1. PC Master Mode. The data flow charts are on Figure 5-2
and Figure 5-3. The meanings of the bubbles (states) are explained
below.
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5.2.2 Slave Sleep/Wake-up, Programming and Configuration
Replaces a function that is able to send and receive the frames below
Frees
according to the states of the control variables (displayed above the
bubble) by the LIN-bus:
• Sleep frame
• Wake-up frame
• Frames for configuration of the LIN-bus network
• Programing parameters (displayed below the bubble) of LIN
Stepper Controller
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The meanings of the variables above and below the bubbles are
described in Section 7.7. Programming and Configuration excluding
LIN_SleepWakeReq, that is an element of Section 7.3. LIN-bus
Control.
5.2.3 Loop1/Loop2 Priority Selector
If there is a request to communicate via the LIN-bus (LIN_RunStopReq),
the Loop1 timer (ECT channel1 output compare register) is set
according to the value of periodeSend_Loop1. That determinates the
next LIN communication time. The Loop2 timer (ECT channel2 output
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cale Semiconductor,
Frees
compare register) is set in the same way (periodeSend_Loop2) but only
if the Loop2 is enabled (enableLoop2). Whenever the ECT channel1 or
channel2 interrupt arises, the priority of the service routine executing
(Send and Receive LIN messages) is resolved. Loop1 has the main
priority. If a Loop2 interrupt arises, the time remaining to the Loop1 timer
interrupt request is calculated. If it is recognized that the remaining time
is greater or equal to the time needed to service the Loop2 service
routine, then this process is enabled. In the opposite event, the task is
deferred. Then, as soon as the Loop1 request is satisfied, it immediately
services the Loop2 communication request. Note that there is one
exception to this rule; i.e. when the time between Loop1 timer interrupts
is always shorter than the time needed to service communication
initialized by Loop2. Then the frames of both loops follow each other with
minimal distances between them. The distance is determined by the
program flow delay, and the distance is negligible in comparison to the
time needed to transmit one LIN frame. Those states are indicated by a
note on the LIN-bus Control page. The page and the variables
mentioned in this subsection are described in Section 7.3. LIN-bus
Control.
Freescale Semiconductor, Inc.
LIN Master Software Description
Data Flow
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA LIN Master Software Description 43
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LIN Master Software Description
UploadParam
DownloadParam
StoreParam
MCUReset
LINReconfig
SendPositionCorrection
LIN_SleepWakeReq
No
Yes
Slave Sleep/Wake up,
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I
Programming and
Configuration
LIN_RunStopReq
Loop1/Loop2
priority
LIN_Status
No
Yes
selector
SynchMode_Loop1
LOOP1_TIMER_Interrupt
LOOP2_TIMER_Interrupt
enableLoop2
None
cale Semiconductor,
Frees
enableTxPosition_Loop1
enableRxPosStatus_Loop1
paramArray
nodeID
uAppConfiByte1
data0_3
currentBlockRun
frequencyStart
acceleration
periodStopTimeout
positionStall
positionResetReq
positionReqManual_Loop1
configProgramError
enableRxStatus_Loop1
periodeSendMin_Loop1
periodeSend_Loop1
modeAutMan_Loop1
No
positionReq_Loop1
Loop1
Yes
autCurveSelect
autReset_Loop1
Send and Receive
LIN messages
positionReqSent_Loop1
positionAct_Loop1
frequencyAct_Loop1
uAppFlags_Loop1
uAppErrFlags_Loop1
analogValue_Loop1
TxPositionError_Loop1
RxPosStatusError_Loop1
RxStatusError_Loop1
Loop2 Control
(Next page)
FieldOfPositions
frequencyReq_Loop1
ctrlFlag_Loop1
Figure 5-2. PC Master Mode Data Flow Chart - Part1
Designer Reference Manual DRM047 — Rev 0
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5.2.4 Loop1/Loop2 Send and Receive LIN Messages
Replaces function that provides (see Section 5. LIN Master Software
Description):
• Send frmPosCmd
• Receive frmPosStatus and frmAppStatus
All variables surrounding this bubble are described in Section 7.3.
LIN-bus Control.
5.2.5 Error Handling
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Modules providing communication by the LIN-bus have incorporated
error handling in terms of recognizing the presence or absence of the
LIN Stepper Controller, and of no possibility of transmission (the LIN SIO
wire is held by the supply source, e.g. shorted to ground or to supply
wire).
cale Semiconductor,
LIN Master Software Description
Data Flow
Frees
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA LIN Master Software Description 45
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LIN Master Software Description
enableTxPosition_Loop2
enableRxPosStatus_Loop2
enableRxStatus_Loop2
periodeSendMin_Loop2
periodeSendReq_Loop2
Loop2 Control
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cale Semiconductor,
5.2.6 Master Mode Program Flow
positionReq_Loop2
positionReqSent_Loop2
positionAct_Loop2
frequencyAct_Loop2
uAppFlags_Loop2
uAppErrFlags_Loop2
analogValue_Loop2
Figure 5-3. PC Master Mode Data Flow Chart - Part2
Frees
Loop2
Send and Receive
LIN messages
periodeSend_Loop2
positionReqManual_Loop2
frequencyReq_Loop2
ctrlFlag_Loop2
TxPositionError_Loop2
RxPosStatusError_Loop2
RxStatusError_Loop2
Provides actions described in Section 2.3.2. Master Mode. From
Figure 5-4, it can be seen that in this mode the functions dedicated to
Loop1 (Timing and Send and Receive LIN messages) are successfully
applied. These are used in PC master mode.
Designer Reference Manual DRM047 — Rev 0
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Freescale Semiconductor, Inc.
5.2.7 Loop1 Timing
Sets ECT channel1 output compare register and waits for interrupt; set
by means of periodeMasterMode variable to 20ms.
5.2.8 Loop1 Send and Receive LIN Messages
Send frmPosCmd, receive frmPosStatus and frmAppStatus (see
Section 5. LIN Master Software Description). All data in transmitted
frames are predefined in MCU memory, including the required position
of the LIN Stepper Controller HID lamp, which is the read-out from
FieldOfPossition array - curve SLOW-FAST.
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LIN Master Software Description
Data Flow
5.2.9 Error Handling
cale Semiconductor,
Frees
positionReqSent_Loop1
positionAct_Loop1
frequencyAct_Loop1
uAppFlags_Loop1
uAppErrFlags_Loop1
analogValue_Loop1
See Section 5.2.5. Error Handling
periodeMasterMode
Loop1
timing
Loop1
Send and Receive
LIN messages
LOOP1_TIMER_Interrupt
FieldOfPositions
frequencyReq_Loop1
ctrlFlag_Loop1
TxPositionError_Loop1
RxPosStatusError_Loop1
RxStatusError_Loop1
Figure 5-4. Master Mode Data Flow Chart
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA LIN Master Software Description 47
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LIN Master Software Description
5.2.10 Debug Mode Program Flow
A general overview may be gained from Section 2.3.3. Debug Mode
and Figure 5-5.
5.2.11 Debug/Programming Control
The Master Board hardware (see Appendix A. Hardware Schematics)
is prepared for using RxD, TxD, DTR and RTS RS232 signals, but
software implementation is based on RxD, TxD, and DTR signals, where
the DTR state is the determining function, i.e. either Debugging /
Programming (DTR - low level, LIN supply voltage on) or Reset (DTR -
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I
high level, LIN supply voltage off). Similarly, on the Debug line output,
where the RSTB signal is not used, hardware allows it. Table 5-1 shows
the Debug line pin assignments and the relationship to the RS232 line
signals.
cale Semiconductor,
Frees
Pin number Pin name Pin type
1 CLOCK Output High impedance state 19,6608MHz clock
2 GND Power Ground Ground
3 VDD Output
4 \IRQOUT Output
5 \IRQIN Input +5V (pull-up) +5V (pull-up)
6RSTB
7 DATA Bidirectional TxD signal is held in low level
Table 5-1. Debug Line Output
DTR - High level
(Reset)
Connected to ground
(discharging capacitors of
Slave Board -> push supply
voltage line to 0V)
\IRQIN low level -> 0V
\IRQIN high level -> +5V
Input
(not used)
0V (pull-down) 0V (pull-down)
Master Board signals
DTR - Low level
(Debugging and
programming)
Open collector output
(transistor is turned off)
\IRQIN low level -> 0V
\IRQIN high level -> +9V
Communication is opened,
RxD and TxD signals are
held in TTL levels
8 MON1 Output High impedance state
Designer Reference Manual DRM047 — Rev 0
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(Set by JP1 on Master Board)
0V
Page 49
Freescale Semiconductor, Inc.
LIN Master Software Description
Table 5-1. Debug Line Output
Master Board signals
Data Flow
Pin number Pin name Pin type
9 MON2 Output High impedance state
10 MON3 Output High impedance state
DTR - High level
(Reset)
DTR - Low level
(Debugging and
programming)
0V
(Set by JP2 on Master Board)
+5V
(Set by JP3 on Master Board)
Debug mode functionality was successfully tested at frequencies up to
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cale Semiconductor,
20 kHz on the DATA pin.
MONs
PTP
Debug/Programming
Control
PTH
RS232
PTS
PTMPTA
LIN
Frees
Debug line
Figure 5-5. Debug Mode Data Flow Chart
5.2.12 Pass Mode Program Flow
Is based on an endless software loop, that copies the RxD signal
(RS232) to the LIN SIO wire and then copies the LIN SIO wire signal
back to TxD (RS232) (see Figure 5-6). Functionality of the Exchange
DRM047 — Rev 0 Designer Reference Manual
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LIN Master Software Description
data procedure was successfully tested with data speeds up to
20 kBaud.
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RS232
PTS
Exchange
data
cale Semiconductor,
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PTS
LIN
Figure 5-6. Pass Mode Data Flow Chart
Designer Reference Manual DRM047 — Rev 0
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Designer Reference Manual — DRM047
Section 6. LIN Stepper Software Description
LIN Stepper Software is described in terms of:
• LIN Stepper Software Data Flow
• LIN Stepper Software Application State Diagram
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• Flow Charts
• LIN Stepper Software Implementation
on the following pages
6.1 LIN Stepper Software Data Flow
Figure 6-1 and Figure 6-5 show the slave software data flow. It consists
of the processes described in following subsections.
The slave application control is processed according to LIN messages
from the LIN driver. According to received messages x_rd_y, the
application variables and states are set. The LIN messages are
described in Section 5. LIN Master Software Description.
cale Semiconductor,
Detailed descriptions of the data variables are in Appendix D. LIN
Stepper Software Data Variables. A description of the application
processes starts here.
Frees
6.1.1 Slave Application Control
The Slave Application Control is the software top level which determines
other processes states. It controls the application states according to
Figure 6-6. The eAppState variable reflects the application control
state. The Slave Application control process also interprets the LIN
signals and sets some Power Die variables using the SPI Driver.
DRM047 — Rev 0 Designer Reference Manual
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LIN Stepper Software Description
The other process’s states are controlled by functional calls from the
Slave Application control process and by dedicated variables. Variables
uAppFlags1 and uAppErrFlags reflect the system status and are set
and read by the three essential processes. The structure
sParameterRAM includes the system parameters that determine the
application behavior. The components of the sParameterRAM structure
can be changed using parameter configuration (see Section 6.1.8.
Config Param). Required position positionReq is derived from
l_u16_rd_positionReq signal and is used for Position and Speed
control process. Similarly, frequencyReq is created from
l_u8_rd_frequencyReq. Actual position positionAct from the Position
Sensing process is passed to the LIN message l_u16_wr_positionAct
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signal. Similarly, for frequencyActLowHigh and
l_u16_wr_frequencyAct.
cale Semiconductor,
Frees
Designer Reference Manual DRM047 — Rev 0
52 LIN Stepper Software Description MOTOROLA
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LIN Stepper Software Description
LIN Stepper Software Data Flow
LIN Messages
LIN
Driver
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cale Semiconductor,
Frees
l_u8_wr_AppFlags1,
l_u8_wr_AppErrFlags
eAppState
positionAct
erPOUT,
erIFR,
erIMR,
erSYSCTL,
erSYSSTAT
SPI
Driver
l_bool_rd_ClrFlag,
l_bool_rd_PosResetFlag,
l_bool_rd_LightOnFlag
sParameterRAM.curentBlockRun
sParameterRAM.uAppConfigByte1
fun.
calls
fun.
calls
Motor Stepping
erHBOU,
erHBCTL
l_u16_rd_positionReq
l_u16_wr_positionAct
Slave App.
Control
uAppFlags1,
uAppErrFlags
Control
uMotStepControlFlags
fun.
calls
fun.
calls
sParameterRAM
positionReq
Position and
Speed Control
positionAct
l_u8_rd_frequencyReql_bool_rd_AppInitFlag,
l_u8_wr_frequencyAct
frequencyActLowHigh
frequencyReq
periodStep
timeMotStep
fun.
calls
POUT,
IFR,
IMR,
SYSCTL,
SYSSTAT,
HBOUT,
erHBCTL
Position
Sensing
Timer
Motor Step
Figure 6-1. LIN Stepper Software - Data Flow 1
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA LIN Stepper Software Description 53
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LIN Stepper Software Description
6.1.2 Position and Speed Control
The Position and Speed Control provides stepper motor control to a
defined absolute position positionReq with the following functions:
• linear acceleration and deceleration ramps from frequencyStart
to frequencyReq with ramp steepness
acceleration = deceleration
• handles changes after required positionReq position update
• handles changes after actual position positionAct update
• handles changes after required frequency frequencyReq update
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• ads time instant PERIOD_STOP_TIMEOUT_MS after
deceleration ramp
The functionality of the Position and Speed Control Processes can be
explained using Figure 6-2, Figure 6-3, and Figure 6-4.
NOTE: Speed (frequency) control is based on the fact that identical constant
acceleration is used for acceleration as for deceleration. Therefore, the
number of steps for speed acceleration is almost the same as for speed
deceleration.
1. Before the motor stops, the speed must be at frequencyStart, in
order not to lose the position.
In addition, according to dynamic behavior (oscillation), the motor is
better stabilized at stop if it provides few steps with the frequencyStart
speed.
2. Therefore we apply the reserve constant
DECEL_AFTERRAMP_RESERVE.
The last issue is a numerical reserve DECEL_NUMERICAL_RESERVE.
Because acceleration and deceleration ramps are calculated from
previous commutation step reserve, the number of steps for acceleration
ramp is higher than deceleration ramps steps. In order to fulfil condition
1, there is
3. DECEL_NUMERICAL_RESERVE
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The variable positionDecelDistance is incremented during speed
acceleration. The actual and required position difference is compared
with the positionDecelDistance (with the DECEL_RESERVE) to find
the point where the speed deceleration ramp must start down to
frequencyStart.
DECEL_RESERVE DECEL_AFTERRAMP_RESERVE 2 DECEL_NUMERICAL_RESERVE++=
where:
LIN Stepper Software Description
LIN Stepper Software Data Flow
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cale Semiconductor,
Frees
DECEL_RESERVE overall deceleration ramp reserve
[steps]
DECEL_AFTERRAMP_RESERVE number of steps with starting
frequency after deceleration ramp
[steps]
2 reserve for following acceleration
requires1 acceleration step and 1
deceleration step [steps]
DECEL_NUMERICAL_RESERVE deceleration reserve to cover the
difference between acceleration
and deceleration ramps caused by
numerical rounding [steps]
Service of the Updated Requests is shown in Figure 6-2. It provides the
necessary Position and Speed control functionality when the position
request value is updated (by LIN message).
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MOTOROLA LIN Stepper Software Description 55
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LIN Stepper Software Description
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Updated Requests
StepRun |
StopTimeout?
No
positionDif =
positionReq -positionAct
positionDif != 0
Yes
Yes
No
cale Semiconductor,
Frees
Step Start
Return
Figure 6-2. Motor Position and Speed Control - Service Updated
Requests
Service of the Updated Actual Position is shown in Figure 6-3. It
provides the necessary Position and Speed control functionality when
the actual position value is updated (step done) or when stop timeout is
scheduled.
Designer Reference Manual DRM047 — Rev 0
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LIN Stepper Software Description
LIN Stepper Software Data Flow
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cale Semiconductor,
Frees
Updated Actuals
positionDif =
positionReq -positionAct
positionDif != 0
Yes
StepRun flag?
Yes
positionDif > 0
Yes
positive rotation
direction?
Yes
decelDistance+
+DECEL_RESERVE
<positionDif
Yes
frequencyReq >=
frequencyActLowHigh
Yes
frequencyActLowHig=
Frequency
Acceleration
No
No
StopTimeout flag?
Yes
Step Start
Return
No
No
No
frequencyActLowHigh=
Frequency
Deceleration
StepRun flag?
Yes
positionDecelAfterRamp <= 0?
No
frequencyAct =
Frequency Deceleration
1
No
Return
No
positionDecelAfterRamp <= 0?
No
frequencyActLowHig=
Frequency
Deceleration
frequencyActLowHig=
Deceleration
Yes
Reverse Timeout
Frequency
No
Yes
Stop Timeout
Begin
Return
Yes
Begin
Return
No
No
StopTimeout flag?
Yes
Stop Block
Set
Return
negative rotation
direction?
No
decelDistance+
+DECEL_RESERVE
< - positionDif
Yes
frequencyReq >=
frequencyActLowHigh
Yes
frequencyActLowHig=
Frequency
Acceleration
1
periodStep= 1/
frequencyAct
timeMotStep +=
periodStep
Return
Figure 6-3. Motor Position and Speed Control - Service Updated Actual Position
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA LIN Stepper Software Description 57
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LIN Stepper Software Description
NOTE: To stop or reverse the motor, the motor must slow down to
frequencyStart and provides DECEL_AFTERRAMP_RESERVE steps
with frequencyStart. This is provided by the condition
positiondecelAfterRamp =< 0. When positiondecelAfterRamp is
initialized to DECEL_AFTERRAMP_RESERVE by
FrequencyAcceleration routine (see Figure 6-4).
The speed acceleration and deceleration subroutines are used for linear
acceleration and deceleration ramping. They are shown in Figure 6-4.
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cale Semiconductor,
Frees
frequencyActLowHigh= Frequency
Acceleration (frequencyActLowHigh,
acceleration, positionDecelDistance,
= DECEL_AFTERRAMP_RESERVE
frequencyReq)
frequencyReq >
frequencyActLowHigh.Byte.Hi
gh
Yes
frequencyActLowHigh +=
periodStep*acceleration
positionDecelDistance++
positionDecelAfterRamp =
frequencyReq <=
frequencyActLowHigh.Byte.Hi
gh
No
No
frequencyActLowHigh= Frequency
Deceleration (frequencyActLowHigh,
acceleration, positionDecelDistance,
frequencyStart)
frequencyActLowHigh -=
periodStep*acceleration
frequencyStart >
frequencyActLowHigh.Byte.Hi
gh
Yes
frequencyActLowHigh =
frequencyStart
positionDecelAfterRamp--
(limited to 0)
positionDecelDistance--
(limited to 0)
No
Yes
frequencyActLowHigh =
frequencyReq
Return
Return
Figure 6-4. Frequency Acceleration and Deceleration - Flow Chart
Designer Reference Manual DRM047 — Rev 0
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The frequency acceleration subroutine provides the actual frequency
frequencyActLowHigh ramp with the maximum frequency limit at
frequencyReq. If the actual frequency is lower than the required, the
new actual frequency is calculated from the last actual frequency
frequencyActLowHigh, last stepping period periodStep and
acceleration constant ParametersRAM.acceleration. After that the
positionDecelDistance is incremented. (This value is used in the
Position and Speed Control Process to determine the point where the
speed deceleration starts). Then the positionDecelAfterRamp variable
is initialized. (positionDecelAfterRamp is used to guarantee that the
motor stop after ramp down to frequencyActLowHigh as shown in
Figure 6-3). Finally frequencyActLowHigh is limited to
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frequencyReq.
LIN Stepper Software Description
LIN Stepper Software Data Flow
cale Semiconductor,
6.1.3 Motor Stepping Control
Frees
The frequency deceleration subroutine provides the actual frequency
frequencyActLowHigh deceleration ramp with the minimum frequency
limit at ParametersRAM.frequencyStart. First new decreased actual
frequency is calculated from the last actual frequency
frequencyActLowHigh, last stepping period periodStep and
acceleration constant ParametersRAM.acceleration. If after the
deceleration the actual frequency frequencyActLowHigh is below
minimum starting frequency ParametersRAM.frequencyStart, then it is
limited to ParametersRAM.frequencyStart and variable
positionDecelAfterRamp is decremented as shown in Figure 6-3, the
motor is allowed to stop after the variable is zero). Finally
positionDecelDistance is incremented (the speed deceleration start
point changes with the actual speed).
The process controls the motor stepping. It prepares the erHBOUT
variable and, using the SPI Driver calls, provides the Power Die H-bridge
setting to energize the stepper motor coils. The process also controls
current limitation via erHBCTL. The motor stepping control is provided
according to the control flags in registers uMotStepControlFlags,
sParameterRAM.uAppConfigByte1, and using the stepIndex as a
pointer to tables fullStepTable or halfStepTable.
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LIN Stepper Software Description
6.1.4 Position Sensing
Position sensing handles the actual position variable positionAct. The
process should guarantee that the actual position is actualized
(increment/decrement) each motor step provided by the Motor Stepping
Control Process.
The process also handles position initialization and correction.
NOTE: The stepper motor is controlled as an open loop system in the
application described in this document. So the position is updated each
motor step according to the motor stepping direction. If any kind of
position sensing or position initialization (e.g. a Hall sensor with a
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defined position) is used, the current software could be adapted simply
by changing of the Position Sensing process.
6.1.5 LIN Driver
6.1.6 SPI Driver
cale Semiconductor,
Frees
6.1.7 Timer Motor Step
LIN drivers provide all the processes for the LIN-bus protocol, which
handles the transmitting/receiving of LIN frames. The application
software communicates with the drivers using LIN API as shown in
Figure 6-1. The LIN messages are described in the Section 5. LIN
Master Software Description.
The MCU part of the 908E625 device communicates with the Power Die
using the SPI module (See Section 9. References, 9, 10).
The Timer Motor Step sets the timer for the The Motor Stepping Control
and Motor Position and Speed Control processes.
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LIN Stepper Software Description
LIN Stepper Software Data Flow
LIN Messages
LIN
Driver
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6.1.8 Config Param
cale Semiconductor,
Frees
l_u8_rd_configLINAxis
fun.
Reconfig
LIN
calls
eAppState
l_u8_rd_service
l_u8_rd_nodeIDCurrent
Slave App.
Control
Position
Sensing
positionAct
l_u8_rd_paramArray
l_u8_rd_dataX
fun.
calls
sParameterRAM
Config
Param
Figure 6-5. LIN Stepper Software - Data Flow 2 - Configuration
The process includes the functions necessary for parameter
configuration. The functions are:
• parameter transfer from FLASH ROM to parameter RAM
• parameter upload from parameters RAM to LIN l_u8_wr_dataX
signals according to l_u8_rd_paramArray
sParameterROM
• parameters download from l_u8_rd_dataX signals to parameter
RAM according to l_u8_rd_paramArray
• FLASH programming parameters from RAM to FLASH ROM
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LIN Stepper Software Description
6.1.9 Reconfig LIN
The process includes the functions necessary for LIN signal
reconfiguration.
As shown in Section 5. LIN Master Software Description, each LIN
Stepper Controller node is programmed as an acceptor for one set of the
LIN signals according to the controlled Axis. The LIN-bus signalling
scheme can be reconfigured to a different Axis
The Reconfig LIN process automatically provides reconfiguration with
the following steps:
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• Initializes the LIN reconfiguration RAM buffer
fLINReconfigBufRAM
• Presets the LIN reconfiguration RAM buffer according to
l_u8_rd_configLINAxis message
• Finally the LIN reconfiguration RAM buffer fLINReconfigBufRAM
is programmed into the LIN configuration tables in FLASH ROM
6.2 LIN Stepper Software Application State Diagram
Figure 6-6 shows the application states. After an MCU reset, the MCU
Initialization states provide the initialization of all processes.
cale Semiconductor,
6.2.1 MCU Init
In this state, the application provides all system module initialization after
Frees
reset:
• sets CONFIG2 register
• sets clock module to 4.9152 MHz bus frequency
• copies configuration parameters from FLASH memory
sParameterRAM = sParameterROM
• initializes uAppFlags1.Byte = 0; uAppErrFlags.Byte = 0
• initializes SPI
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Freescale Semiconductor, Inc.
• initializes LIN drivers
• initializes stepIndex = STEP_INDEX_INIT_DEFAULT
• initializes actual position
positionAct = sParameterRAM.positionPark
App
Configuration
NO Position Correction
Position Correction Done
App Prepare
Config
l_u8_rd_nodeIDCurent()==sParameterRAM.nodeID &
(SysMasterRequest_Download OR
SysMasterRequest_Store OR
SysMasterRequest_LINReconfig)
l_bool_rd_ClrFlag &
AppState != App Init
App Run
App Clear
Errors
Figure 6-6. LIN Stepper Software Application State Diagram
Done
MCU_Reset
MCU Init
App Init
Done
l_bool_rd_AppInitFlag
PositResetDone
l_bool_rd_PosResetFlag
SysMasterRequest_Sleep
return
LIN Stepper Software Description
LIN Stepper Software Application State Diagram
Done
Done
Reset Set Stall
positionAct = positionResetRqValue
App Position
App Prepare
App Wake-up
App Position
Reset
Sleep
LIN Wake-up Request
App Sleep
Done
6.2.2 iApp.Init
The Application Initialization state is a defined state which the
application enters after MCU Init, or can be forced by the
l_bool_rd_AppInitFlag message. The application performs the following:
• initializes timers
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LIN Stepper Software Description
• clears system errors
• provides position and speed control application initialization
NOTE: The application initialization state App. Init. does not set actual motor
position positionAct.
6.2.3 App.Run
In the Application Run state, the application controls the actual position
positionAct to the required position positionReq with current limited to
the Run or Block current. The positionReq is set according to the to
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l_u16_rd_positionReq signal. The motor is in the block state if the
positionAct = positionReq after stop timeout. The LIN signals are also
tested in this state. If there are any of the requests shown in Figure 6-6,
the state is left.
6.2.4 App.Position Reset
Functionality of the Position Reset state is very similar to the App Run
state, but in this state the application controls the motor to the motor
down to positionReq = sParameterRAM.positionResetRqValue. So
the positionReq is not set according to the l_u16_rd_positionReq.
This state is used with the App Position Reset Set Stall for position
initialization.
cale Semiconductor,
6.2.5 App.Position Reset Set Stall
Frees
6.2.6 App. Prepare Sleep
Provides setting positionAct = sParameterRAM.positionStall and so
provides the actual position reset.
Application prepares for sleep. In case the motor is spinning it is
decelerated and stopped. This is provided in order not to lose position by
going to sleep.
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6.2.7 App. Prepare Sleep
6.2.8 App. Wake-Up
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6.2.9 App. Configuration
I
Freescale Semiconductor, Inc.
Application prepares all MCU modules for minimal consumption and
provides Stop instruction. It also sets the Power Die to be able to
generate IRQ pin signal for LIN-bus wake-up.
After wake-up message from the bus, the MCU is wakened by the IRQ
pin signal from Power Die.
LIN Stepper Software Description
LIN Stepper Software Implementation
Application Configuration is described in Section 6.1.8. Config Param,
Section 6.1.9. Reconfig LIN or Appendix C.3. LIN Leveller
Configuration Frames.
6.2.10 App. Clear Errors
Application clears Power Die errors and uAppErrFlags.Byte = 0
6.3 LIN Stepper Software Implementation
cale Semiconductor,
6.3.1 Scaling of Quantities
The LIN Leveller application uses signed 16-bit type SWord16,
Frees
unsigned 16-bit type UWord16, signed 8-bit type SByte, and unsigned
8-bit type UByte variables.
Any defined Real Variable constant must be recalculated to the system
representation (UWord16 Value, SWord16 Value, UWord8 Value,
SWord8 Value)
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LIN Stepper Software Description
The following equation shows the relationship between system (raw
value range) and real (physical or normalized range) representation
UWord16 Value MAX_U16 1+()
SWord16 Value MAX_S16 1+()
UB yte Value MAX_U8 1+()
SB yte Value MAX_S8 1+()
where:
Real Value
=
-------------------------------------------------------------Real Quantity Range Max
Real Value
--------------------------------------------------------------
⋅=
Real Quantity Range Max
Real Value
--------------------------------------------------------------
⋅=
Real Quantity Range Max
Real Value
--------------------------------------------------------------
⋅=
Real Quantity Range Max
(EQ 1.)
(EQ 2.)
(EQ 3.)
(EQ 4.)
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UWord16 Value is the unsigned 16-bit system representation of the real
value,
SWord16 Value is the signed 16-bit system representation of the real
value,
UWord8 Value is the unsigned 8-bit system representation of the real
value,
SWord8 Value is the signed 8-bit system representation of the real
value,
Real Value is the real value of the quantity [V, A, RPM, etc.],
Real Quantity Range Max is the maximum of the quantity range,
defined in the application [V, A, RPM, etc.],
MAX_U16 = 65535 is the maximum of the unsigned 16-bit variable,
MAX_S16 = 32768 is the maximum of the signed 16-bit variable,
MAX_U8 = 255 is the maximum of the unsigned 8-bit variable,
MAX_S8 = 127 is the maximum of the signed 8-bit variable.
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LIN Stepper Software Description
LIN Stepper Software Implementation
From the above equations for the Real Value:
Real Value
Real Value
Real Value
Real Value
UWord16 Value* Real Quantity Range Max
----------------------------------------------------------------------------------------------------------=
SWord16 Value*Real Quantity Range Max
---------------------------------------------------------------------------------------------------------=
UB yte Value*Real Quantity Range Max
---------------------------------------------------------------------------------------------------=
SB yte Value*Real Quantity Range Max
--------------------------------------------------------------------------------------------------=
MAX_U16 1+()
MAX_S16 1+()
MAX_U8 1+()
MAXSU8 1+()
(EQ 5.)
(EQ 6.)
(EQ 7.)
(EQ 8.)
According to the variable type, the equations EQ1 to EQ8 also can be
converted to the EQ9 and EQ11
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System Variable X
Real Value X
------------------------------------------------------=
Resolution Quantity X
(EQ 9.)
where:
Resolution Quantity X
where:
System Variable X - is the system variable
Real Value X - is the physical value of the quantity represented by
Variable X
Resolution Quantity X - resolution of the system variable X in real. (It
represents the physical value represented by LSB bit of the Variable X)
cale Semiconductor,
Max Type Variable X - system Variable X maximum according to the
Variable Type:
Real Quantity X Range Max
--------------------------------------------------------------------=
MAX Type Variable X
(EQ 10.)
Frees
Type UWord16 MAX_U16 = 65535
Type SWord16 MAX_S16 = 32768
Type UByte MAX_U8 = 255
Type SByte MAX_S8 = 127
And hence the Real Value:
Real Value X Resolution Quantity X*System Variable X=
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(EQ 11.)
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LIN Stepper Software Description
6.3.2 Scaling of Time
Scaling of time variables is according to EQ12,13
Resolution Period
ResolutionPeriod defines the time of
Real Step Period periodStep*R esolu tion Period=
6.3.3 Acceleration Scaling and Arithmetic Operations
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Some of the arithmetic operations used in the LIN Stepper software
impact the calling.
A good example is umul_16x8_macro
UWord16 Variable3
which is used for acceleration ramp calculation:
Frequency Difference Stepping Perio d*Acceleration=
And EQ15 can be rewritten to
cale Semiconductor,
Resolution Frequency*(UWord16) frequencyDif Resolution Period*(UWord16) periodStep* Resolution Acceleration *acceleratio
if we use the umul_16x8_macro
Timer Prescaller Division
--------------------------------------------------------------=
Bus Frequency
UWord16 Variable1*UByte Variable2
---------------------------------------------------------------------------------------------=
=
256
(EQ 12.)
(EQ 13.)
(EQ 14.)
(EQ 15.)
(EQ 16.)
Frees
(UWord16)Frequency Dif
(UWord16)periodStep*(UByte)Acceleration
-----------------------------------------------------------------------------------------------------------=
256
Then according to EQ16, EQ17 the Resolution Acceleration is:
RESOLUTION_ACCEL_DECEL_S_S2
RESOLUTION_FREQUENCY_LOW_HIGH
----------------------------------------------------------------------------------------------------------------------------------=
256.0*(RESOLUTION_PERIOD_NS/1000000000.0)
NOTE: The actual frequency variable frequencyActLowHigh is represented as
an union. Then for the acceleration calculations it can be accessed as
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(EQ 17.)
(EQ 18.)
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Freescale Semiconductor, Inc.
UWord16 variable frequencyActLowHigh.Word. This will guarantee
the low resolution (necessary to create low steepness frequency ramps).
For the frequency-to-period calculation and comparison with required
frequency frequencyReq, it is sufficient to use 8-bit information. This
allows to use fast calculations like frequency to speed conversion using
udiv16_8to16.
Then the high byte frequencyActLowHigh.Byte.High is accessed.
6.3.4 Actual Frequency to Period Conversion
The conversion from frequency to period requires division.
LIN Stepper Software Description
LIN Stepper Software Implementation
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Period
1
----------------------------=
Frequency
(EQ 19.)
For software execution optimized calculation we wrote a special
arithmetic function:
UWord16 udiv16_8to16(UWord16 x, UByte y)
with UWord16 output and UWord16 x, UByte y inputs. It is written in
assembler and provides the following calculation:
UWord16 Variable3
UWord16 Variable1
-------------------------------------------------=
UByte Variable3
(EQ 20.)
The conversion must take into account the variables scaling:
Resolution Period*(UWord16) periodStep
(UWord16) periodStep
UWord16()Resolution Frequency/ResolutionPeriod()
------------------------------------------------------------------------------------------------------------------------------------=
---------------------------------------------------------------------------------------------------------=
Resolution Frequency*(UByte8) Frequency
(UByte8) Frequency
1
(EQ 21.)
(EQ 22.)
So the final calculation using the udiv16_8to16 function is:
(UWord16) periodStep
UWord16()CONVERSION_CONST_PERIOD_FERQ()
--------------------------------------------------------------------------------------------------------------------------------------------=
(UByte8) frequencyActLowHigh.Byte.High
(EQ 23.)
where:
Resolution Period [s] is
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RESOLUTION_PERIOD_NS*1000000000.0
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LIN Stepper Software Description
Resolution Frequency [Hz] is RESOLUTION_FREQUENCY_HZ
CONVERSION_CONST_PERIOD_FREQ =
(1000000000.0/RESOLUTION_FREQUENCY_HZ/RESOLUTION_PE
RIOD_NS)
6.3.5 LIN Stepper Software Memory Utilization
Table 6-1 shows how much memory is required to run the LIN Stepper
Controller with code compiled with Metrowerks CodeWarrior v 2.1.
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Table 6-1. Stepper Controller Software Memory Utilization
Memory
FLASH ROM 4039 Bytes
RAM 278 Bytes
Used by
Software
Important Sections Size
Parameter ROM 16B
LIN Reconfig ROM 128B
Stack 64B
LIN Reconfig RAM 96B
Parameter RAM 16B
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Designer Reference Manual — DRM047
Section 7. User Interface Description
7.1 Introduction
This section describes the Control pages used for LIN-bus control (see
Section 2.3.1. PC Master Mode) in terms of:
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• PC master software general overview
• detailed description of each control page
7.2 PC Master Software General Overview
The principle is briefly shown in Section 2.4. Personal Computer.
In Figure 7-1 it is possible to see whole PC master software page, which
is comprised of four main boxes.
cale Semiconductor,
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User Interface Description
.
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7.2.1 Project Tree
Frees
View Tabs
Project Tree
Variable Watch
Figure 7-1. PC Master Software Main Page
Clicking the mouse on the legend selects what is displayed in the
remaining boxes.
View Area
7.2.2 Variable Watch
Here some selected variables from the Master Board are located, and
the Value (Number or Expression) and Period of reloading is assigned
to them.
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7.2.3 View Tabs
7.2.4 View Area
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The View tabs select what is displayed in the View area.
Shows one of following items:
• HTML Control page (LIN-bus Control page or Programming and
• Oscilloscope page
User Interface Description
LIN-bus Control
Configuration page)
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7.3 LIN-bus Control
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• Recorder page
Because some variables on the HTML control page have write status, it
is necessary to reload them to Variable Watch by pressing the F5 key on
the keyboard (recommended after a change). Reloading of the read
variables is done automatically.
More information about the PC master software can be gained from the
PC Master Software User Manual (Section 9. References, 1).
The pages dedicated to LIN slave control are (see Project Tree):
• Slave control - LIN-bus control page
• Oscilloscope - real time variables watching
• Recorder - recorded variables watching
7.4 Slave Control
Via this HTML page (Figure 7-2), it is possible to fully control up to two
LIN Stepper Controllers. The page comprises three main areas: Control
Loop1, Control Loop2, and an area containing Status notes and State
buttons on a yellow background.
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User Interface Description
7.4.1 Control Loop1
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The steps for setting this page are as follows:
1. Chose LIN frames (see Section 5. LIN Master Software
2. Select Axis (LIN Stepper Controller)
3. The periodeSendMin box displays the automatically calculated
Description) for communication via checking of Send or Receive
boxes.
minimum time necessary for transmitting and receiving selected
LIN frames. Set time distances in periodeSend box between two
communication events greater than or equal to that minimum time
(displayed in milliseconds; maximum value = 255).
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4. All LIN frames data are displayed in the Frame Data box. In
FramePosCmd it is necessary to choose the source for
positionReq 16-bit data. Either it will be driven manually or will be
automatically generated from predefined curves in LIN Master
memory. In the first case, choose Manual in the Mode combo box,
There are four predefined curves and one special choice called
SQUARE.
and positionReq is driven by positionReqManual. The actual value
can be seen either in the box below the slide bar or in the
positionReq box. In the second case, choose Automatic in the
Mode combo box, select curve and set “if generate data still” or
“read out curve data only once and then stop” (Send combo box).
The Reset button causes shifting in curve data to beginning.
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User Interface Description
Slave Control
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7.4.2 Control Loop2
Frees
Figure 7-2. LIN-bus Control Page
The setting is the same as for Control Loop1 except:
• If there are communication requests of both loops at the same
time, Loop1 always has the main priority. This means that a
request from Loop2 is shifted until the request of Loop1 is
satisfied. That is why there is a delay between two following
satisfied communication requests from Loop2, measured and
displayed via periodeSend. The periodeSendReq box is used to
set the desired time periods between two communication events
of Loop2.
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User Interface Description
FramePosCmd 16-bit data source (positionReq) is set only manually, by
means of the positionReqManual box.
7.4.3 Status Notes and State Buttons
On the yellow background can be seen two Status notes and three State
buttons:
• Status - displays current status of LIN communication and can be:
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– Idle - LIN is activated, but communication is not started
– Run - communication is running
– Sleep - LIN-bus is in Sleep state
7.4.4 Error Handling
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• Error - global error label, which accumulates all error warnings.
• Sleep/Wake up - sends sleep or wake-up frame.
• Run/Stop - runs or stops communication via LIN-bus. Park
Position - after button click is positionReq variable of both loops
forced to zero and the mode of Loop1 is set to Manual.
The Error notes can be:
• None - communication without errors
• No Response - Slave is not responding (wrong selected Axis or
Slave is missing). In case, when is Slave responding, this note
reflects checksum error.
• Transmitter Issue - more than one LIN device is transmitting or LIN
SIO wire is shorted to the supply source wires.
7.4.5 Low Time Cases
If the time dedicated to Loop1 communication requests is always shorter
than the time necessary for Loop2 communication, the priority rule of
Loop1 is dismissed and loop requests are satisfied in order following
each other. This state is signalled by the note Frames are not
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7.5 Recorder
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synchronized with periodeSend, that is situated beside Loop1
periodeSend variable.
This page is shown in Figure 7-3. It is possible to reach it in two ways.
Either click on the Display Graphical Recorder button (Slave Control
page) or click on the legend Recorder in the Project tree.
The Recorder is working as a standalone oscilloscope running directly
on the Master Board. Each cycle is started by the Run button on the
Recorder page. Then data in predefined time distances are sampled and
stored to Master Board RAM. After ten seconds from start, data are
reloaded to the PC master tool and displayed via the graphical interface.
The dvantage of this way of watching variables is the recording of fast
changing events.
User Interface Description
Recorder
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In this case, three variables of Loop1 are watched and displayed
(because of finite size of RAM):
1. positonReq - desired position of HID lamp (LIN Stepper Controller)
before FramePosCmd transmitting
2. positionReqSent - desired position of HID lamp (LIN Stepper
Controller) immediately after FramePosCmd transmitting
3. positionAct - actual position of HID lamp (LIN Stepper Controller)
after receiving FramePosStatus
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User Interface Description
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7.6 Oscilloscope
Figure 7-3. Recorder Page
By comparing 1) and 2) it is possible to watch the delay caused by
transmitting FramePosCmd on LIN-bus; by comparing 1) and 3) it is
possible to watch the delay caused by the mechanical parts of the LIN
Stepper Controller that are driving the lamp position (LIN communication
delays can be in the most of this cases neglected).
Figure 7-4 shows the Oscilloscope page.
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The Oscilloscope works as a real time recorder and displays the current
state of the variables. In comparison to the Recorder, the data for
Oscilloscope are loaded to PC master software immediately and
individually, whereas, in the case of the Recorder, this is done by group.
This causes the Oscilloscope to be slower than the Recorder, so when
the event is faster than the Oscilloscope data flow, data triggering that
event are missing. The advantage of this tool is that it does not use the
Master Board RAM as Recorder, so triggered events can be infinite.
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User Interface Description
Oscilloscope
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Figure 7-4. Oscilloscope Page
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User Interface Description
The same variables as in Recorder are displayed on the Oscilloscope
page, but for both loops.
This section is finished by the comparison tables of variables between
LIN-bus Control page and Variable Watch:
• Loop1 (Table 7-1)
• Loop2 (Table 7-2)
• Status notes and State buttons (Table 7-3)
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Table 7-1. LIN-bus Control Page and Variable Watch Variables Comparison - Loop1
LIN-bus Control page variable
name
Send enableTxPosition_Loop1 Enable transmit frame PosCmd
Receive
Error
Select Axis
periodeSendMin periodeSendMin_Loop1
Name of representative from
Watch variable
enableRxPosStatus_Loop1 Enable receive frame PosStatus
enableRxStatus_Loop1 Enable receive frame AppStatus
TxPositionError_Loop1
RxPosStatusError_Loop1
RxStatusError_Loop1
axisTxPosition_Loop1 Target device of PosCmd frame
axisRxPosStatus_Loop1 Target device of PosStatus frame
axisRxStatus_Loop1 Target device of AppStatus frame
Error during frame PosCmd
Error during frame PosStatus
Error during frame AppStatus
value in milliseconds
Note
transmitting
receiving
receiving
Calculated period,
range <0 - 255>,
Real period,
periodeSend periodeSend_Loop1
Mode modeAutMan_Loop1 Select Manual or Automatic mode
Curve autCurveSelect_Loop1 Select one predefined curve
Send autSendOnesStill_Loop1 Send curve Ones or Still
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range <0 - 255>,
value in milliseconds
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User Interface Description
Oscilloscope
Table 7-1. LIN-bus Control Page and Variable Watch Variables Comparison - Loop1
LIN-bus Control page variable
name
Reset autReset_Loop1
positionReq positionReq_Loop1
frequencyReq frequencyReq_Loop1
ClrFlag ClrFlag_Loop1
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AppInitFlag AppInitFlag_Loop1
PosResetFlag PosResetFlag_Loop1
LightOnFlag LightOnFlag_Loop1
positionAct positionAct_Loop1
frequencyAct frequencyAct_Loop1
AppFlags uAppFlags_Loop1
analogValue analogValue_Loop1
AppErrFlags uAppErrFlags_Loop1
positionReqManual positionReqManual_Loop1
Name of representative from
Watch variable
Note
Shift pointer in selected
Curve to begin
Included in frame PosCmd,
data field, length 16 bits
Included in frame PosCmd,
data field, length 8 bits,
page range <0Hz - 2500 Hz>
Included in frame PosCmd,
data field, length 1 bit each
Included in frame PosStatus,
data field, length 16 bits
Included in frame PosStatus,
data field, length 8 bits
Included in frame PosStatus,
data field, length 8 bits
Included in frame AppStatus,
data field, length 8 bits
Included in frame AppStatus,
data field, length 8 bits
If is Mode manual, sets value of
positionReq variable
Frees
Table 7-2. LIN-bus Control Page and Variable Watch Variables Comparison - Loop2
LIN-bus Control page variable
name
Send enableTxPosition_Loop2 Enable transmit frame PosCmd
Receive
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Name of representative from
Watch variable
enableRxPosStatus_Loop2 Enable receive frame PosStatus
enableRxStatus_Loop2 Enable receive frame AppStatus
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User Interface Description
Table 7-2. LIN-bus Control Page and Variable Watch Variables Comparison - Loop2
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LIN-bus Control page variable
name
Error
Select Axis
periodeSendMin periodeSendMin_Loop2
periodeSendReq periodeSendReq_Loop2
periodeSend periodeSend_Loop2
positionReq positionReq_Loop2
frequencyReq frequencyReq_Loop2
ClrFlag ClrFlag_Loop2
AppInitFlag AppInitFlag_Loop2
PosResetFlag PosResetFlag_Loop2
Name of representative from
Watch variable
TxPositionError_Loop2
RxPosStatusError_Loop2
RxStatusError_Loop2
axisTxPosition_Loop2 Target device of PosCmd frame
axisRxPosStatus_Loop2 Target device of PosStatus frame
axisRxStatus_Loop2 Target device of AppStatus frame
Error during frame PosCmd
Error during frame PosStatus
Error during frame AppStatus
value in milliseconds
value in milliseconds
value in milliseconds
Included in frame PosCmd, data
field, length 16 bits
Included in frame PosCmd,
data field, length 8 bits,
page range <0Hz - 2500 Hz>
Included in frame PosCmd,
data field, length 1 bit each
Note
transmitting
receiving
receiving
Calculated period,
range <0 - 255>,
Desired period,
range <0 - 255>,
Real period,
range <0 - 255>,
LightOnFlag LightOnFlag_Loop2
positionAct positionAct_Loop2
frequencyAct frequencyAct_Loop2
AppFlags uAppFlags_Loop2
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Included in frame PosStatus,
data field, length 16 bits
Included in frame PosStatus,
data field, length 8 bits
Included in frame PosStatus,
data field, length 8 bits
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User Interface Description
Programming and Configuration
Table 7-2. LIN-bus Control Page and Variable Watch Variables Comparison - Loop2
LIN-bus Control page variable
name
analogValue analogValue_Loop2
AppErrFlags uAppErrFlags_Loop2
positionReqManual positionReqManual_Loop2 Value for positionReq variable
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Table 7-3. LIN-bus Control Page and Variable Watch Variables Comparison - Status Notes
LIN-bus Control page variable
name
Status LIN_Status
Error Created as OR function of all error messages in HTML page code
Sleep/Wake-up LIN_SleepWakeReq
Run/Stop LIN_RunStopReq
Park Position Park Sets lamp system to initial position
Note:
Frames are (not)
synchronized with periodeSend
7.7 Programming and Configuration
Frees
Name of representative from
Watch variable
and State Buttons
Name of representative from
Watch variable
SynchMode_Loop1
Note
Included in frame AppStatus,
data field, length 8 bits
Included in frame AppStatus,
data field, length 8 bits
Note
Display LIN status:
IDLE/RUN/SLEEP
Change current LIN Status
Sleep/Wake-up
Change current LIN Status
Run/Stop
Display relationship between real
and desired communication timing
By the means of this page (see Figure 7-5) it is possible to program and
configure the LIN Stepper Controller via LIN-bus. The services are
following:
• LIN Reconfiguration - assign Axis number
• Upload Parameters - read parameters
• Download Parameters - write parameters
• Store Parameters - store parameters to program MCU memory
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User Interface Description
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• MCU Reset - reset MCU
• Send Position Correction - set new position
All variables included in the parameters array are described in
Section 5. LIN Master Software Description.
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7.7.1 LIN Reconfiguration
Figure 7-5. Programming and Configuration Page
If is necessary to change or program new Axis number of LIN Stepper
Controller, select the desired Axis number in configLINAxis combo box
and click on LIN Reconfig button. The target device will now have the
chosen Axis number.
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7.7.2 Upload Parameters
Steps are as follows:
Freescale Semiconductor, Inc.
1. Select nodeID (node identity) - for an uninitialized device (by the
2. In the paramArray combo box, set which parameters are to be
3. Click on the UPLOAD button
User Interface Description
Programming and Configuration
nodeID item in parameters array) the nodeID is 255
uploaded (a dedicated box will appear just like the box selected by
paramArray PARAMS_CONFIG vote on Figure 7-5 - in the middle
of left side).
nc...
I
7.7.3 Download Parameters
cale Semiconductor,
Frees
4. Parameters are now reloaded from the selected Node, and in
service box is displayed the name of action that was provided by
Node (in this case it must be UPLOAD, otherwise the Node
reaction was wrong).
For this choice:
1. Select nodeID (node identification) - for an uninitialized device (by
the nodeID item in parameters array) the nodeIDis 255
2. In the paramArray combo box, set which parameters are to be
downloaded (a dedicated box will appear just like box selected by
paramArray PARAMS_CONFIG vote on Figure 7-5 - in the middle
of left side). Then change those parameters.
3. After clicking on the DOWNLOAD button, the parameters are
written and immediately read back for verifying. If the parameter
values are the same as were determined, in the RecvData box will
be “Ok”. In the opposite case, “Different” will be displayed. In the
service box must be “DOWNLOAD”, otherwise the Node reaction
was wrong.
7.7.4 Store Parameters
Choose Node (nodeID) and click on the STORE button. All parameters
are stored in the Node program memory.
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA User Interface Description 85
For More Information On This Product,
Go to: www.freescale.com
Page 86
User Interface Description
7.7.5 MCU Reset
7.7.6 Send Position Correction
nc...
I
Freescale Semiconductor, Inc.
For all Nodes, nodeID is zero; for uninitialized devices, it is 255.
Select Node via nodeID combo box and click on MCU Reset button.
For all Nodes, nodeID is zero; for uninitialized devices, it is 255.
Set nodeID and variable positionCorrection. Then click on the Send
Position Correction button.
For uninitialized device, nodeID is 255.
7.7.7 Error Handling
cale Semiconductor,
Frees
Error (corresponding variable in Variable Watch - configProgramError)
box notes can be:
• None - communication without errors
• No Response - Slave is not responding (wrong selected Axis or
Slave is missing). In case, when Slave is responding, this note
reflects checksum error.
• Transmitter Issue - more than one LIN device is transmitting or LIN
SIO wire is shorted to the supply source wires.
Designer Reference Manual DRM047 — Rev 0
86 User Interface Description MOTOROLA
For More Information On This Product,
Go to: www.freescale.com
Page 87
Freescale Semiconductor, Inc.
Designer Reference Manual — DRM047
One of the aims of this reference design was to show that the LIN-bus is
suitable for HID headlamp levelling control and its communication speed
is fully sufficient for this application.
The dynamic behavior of the HID lamp levelling system has some
nc...
I
limitations due to mechanical parts. The bus communication system
(LIN-bus) should not be the limitation for the system dynamic.
Section 8. Conclusion
cale Semiconductor,
Frees
This is demonstrated below using the PC master recorder (see
Section 7.5. Recorder). The figures below are measured using the PC
master software. Control Loop1 controls automatically the levelling of a
standard HID lamp according to signals pre-programmed in LIN Master.
The horizontal levelling is set for Axis1.
All Axis1 frames are being sent. Control Loop2 is also enabled and
controls Axis2. All Axis2 frames are being sent (see Section 7.4. Slave
Control). All frames are sent with constant period periodeSend = 30ms.
According with the stepper motor and mechanical parts of the HID lamp,
the following setting is provided:
• start speed = 200rpm
• max. speed frequencyReq = 700rpm
• and position range positionReq +/-128steps
Figure 8-1 shows that a slow sinusoidal signal of required position
positionReq can be followed by the actualPosition signal. If the signal
frequency increases, the HID lamp mechanics are not able to copy the
required position. The LIN-bus is able to provide enough samples.
The system mechanics are the limiting factor.
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA Conclusion 87
For More Information On This Product,
Go to: www.freescale.com
Page 88
Conclusion
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Freescale Semiconductor, Inc.
cale Semiconductor,
Frees
Figure 8-1. Slow-Fast Signal
Figure 8-2. Low-High (Amplitude) Signal
The Figure 8-2 shows that the required position positionReq with a
sinusoidal signal of small amplitude can be followed by actualPosition
Designer Reference Manual DRM047 — Rev 0
88 Conclusion MOTOROLA
For More Information On This Product,
Go to: www.freescale.com
Page 89
Freescale Semiconductor, Inc.
signal. If the signal amplitude increases, the stepper motor with its
maximum speed is not able to follow the required position.
The LIN-bus is able to provide enough samples.
The system mechanics are the limiting factor.
nc...
I
Conclusion
Programming and Configuration
cale Semiconductor,
Frees
Figure 8-3. Road1 Signal
Figure 8-3 shows a non-sinusoidal signal of required position
positionReq be followed by the actualPosition signal. It can simulate
a HID levelling system on a road.
Therefore, we can say that the LIN Leveller described in this reference
design could be an advanced solution for HID headlamp levelling control
with a very competitive system cost thanks to:
• LIN-bus communication protocol
which is a cost-effective bus system based on standard SCI (UART)
communication and:
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA Conclusion 89
For More Information On This Product,
Go to: www.freescale.com
Page 90
Conclusion
nc...
I
Freescale Semiconductor, Inc.
• 908E625 device
as an integrated solution, which makes the slave nodes easy with a low
number of components.
cale Semiconductor,
Frees
Designer Reference Manual DRM047 — Rev 0
90 Conclusion MOTOROLA
For More Information On This Product,
Go to: www.freescale.com
Page 91
Freescale Semiconductor, Inc.
Designer Reference Manual — DRM047
1. PC Master Software User Manual
2. LIN Specification Package, Revision 1.2
Section 9. References
nc...
I
cale Semiconductor,
Frees
3. System Integration in Automotive Lighting - Improvements in
Visibility at Night, Rainer Neumann, Visteon Deutschland GmbH,
SAE 2002-01-1989
4. Bending Light, Kevin Jost, SAE 1-110-12-26
5. Adaptive front lightning, Stuart Birch, SAE 1-109-12-39
6. Bifunction HID Headlamp Systems - Reflection and Projection
Type, Doris Boebel, Heike Eichler and Verena Hebler, Automotive
Lighting GmbH, Automotive Lighting Research (SP–1531)
7. HID System: Function Integration, Christophe Cros, Valeo
Lighting System
8. Innovations in Lighting with Adaptive Headlamp Technology,
Michael Hamm and Ernst-Olaf Rosenhahn, Automotive Lighting
Reutlingen, SAE 2001-01-3392
9. LIN General Purpose IC 908E625ACDWB/D
10. MC68HC908EY16 Data Sheet MC68HC908EY16/D
11. LIN Physical Interface MC33399
12. 16-bit MCU MC9S12DP256B
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA References 91
For More Information On This Product,
Go to: www.freescale.com
Page 92
References
nc...
I
Freescale Semiconductor, Inc.
cale Semiconductor,
Frees
Designer Reference Manual DRM047 — Rev 0
92 References MOTOROLA
For More Information On This Product,
Go to: www.freescale.com
Page 93
Freescale Semiconductor, Inc.
Designer Reference Manual — DRM047
Appendix A. Hardware Schematics
A.1 LIN Master Board Schematic
nc...
I
cale Semiconductor,
Frees
5
D D
+5V
C C
C12
C12
100nF
100nF
B B
R20
R20
10k
10k
A A
MONx JPx
High
Low ON
ON - JUMPER PINS ARE SHORT - CIRCUIT
OFF - JUMPER PINS AREN'T SHORT- CIRCUIT
C10
C10
100nF
100nF
8
VCC
OUT
4
GND
NC
QG1
QG1
19,6608MHz
19,6608MHz
SW1
SW1
PUSHBUTTON-2/SM
PUSHBUTTON-2/SM
12
34
56
J6
HEADER3X2J6HEADER3X2
5
5
1
OFF
CLOCK
4
VCC5GND
MON2
MON3
\EN_CLOCK
1
OUT
IN
2
+
+
JP1JP1
JP2JP2
JP3JP3
JP4JP4
JP5JP5
JP6JP6
U5
U5
74HCT1G125GW
74HCT1G125GW
OE
3
C11
C11
15pF
15pF
R13
R13
1k2
1k2
C15
C15
10uF/6,3V
10uF/6,3V
R21
R21
10k
10k
C26
C26
100nF
100nF
R141kR14
1k
C16
C16
100nF
100nF
C27
C27
10nF
10nF
109
SCK2/PW7/KWP7/PP7
110
SS2/PW6/KWP6/PP6
111
MOSI2/PW5/KWP5/PP5
112
MISO2/PW4/KWP4/PP4
1
SS1/PW3/KWP3/PP3
2
SCK1/PW2/KWP2/PP2
3
MOSI1/PW1/KWP1/PP1
4
MISO1/PW0/KWP0/PP0
18
IOC7/PT7
17
IOC6/PT6
16
IOC5/PT5
15
IOC4/PT4
12
IOC3/PT3
11
IOC2/PT2
10
IOC1/PT1
9
IOC0/PT0
31
PB7/AD7
30
PB6/AD6
29
PB5/AD5
28
PB4/AD4
27
PB3/AD3
26
PB2/AD2
25
PB1/AD1
24
PB0/AD0
36
PE7/XCLKSn/NOACC
37
PE6/MODB/IPIPE1
38
PE5/MODA/IPIPE0
39
PE4/ECLK
53
PE3/LSTRBN/TAGLOn
54
PE2/RWn
55
PE1/IRQn
56
PE0/XIRQn
46
EXTAL
47
XTAL
83
VDDA
84
VRH
85
VRL
97
VREGEN
42
RESETn
82
PAD15/AN15
80
PAD14/AN14
78
PAD13/AN13
76
PAD12/AN12
74
PAD11/AN11
72
PAD10/AN10
70
PAD09/AN09
68
PAD08/AN08
48
TEST
23
MODC/TAGHIn/BKGD
43
VDDPLL
R22
R22
5k6
5k6
4
C28
C28
1nF
1nF
4
PA4/AD12/TMOD1
PA6/AD14/TMOD2
PS4//SDI/MISO0
PM0/RXB/RXCAN0
PM1/TXB/TXCAN0
PM2/RXCAN1
PM3/TXCAN1
PM4/RXCAN2
PM5/TXCAN2
PM6/RXCAN3
PM7/TXCAN3
PJ6/KWJ6/SDA/RXCAN4
PJ7/KWJ7/SCL/TXCAN4
XFC
44
U2
U2
MC9S12DP256
MC9S12DP256
PA0/AD8
PA1/AD9
PA2/AD10
PA3/AD11
PA5/AD13
PA7/AD15
PAD07/AN07
PAD06/AN06
PAD05/AN05
PAD04/AN04
PAD03/AN03
PAD02/AN02
PAD01/AN01
PAD00/AN00
PS7/SS0
PS6/SCK0
PS5/MOSI0
PS1/TXD0
PS0/RXD0
PS3/TXD1
PS2/RXD1
KWH0/PH0
KWH1/PH1
KWH2/PH2
KWH3/PH3
KWH4/PH4
KWH5/PH5
KWH6/PH6
KWH7/PH7
PK0/PIX0
PK1/PIX1
PK2/PIX2
PK3/PIX3
PK4/PIX4
PK5/PIX5
PK7/ECSn
KWJ0/PJ0
KWJ1/PJ1
VSSPLL
VDD1
VDD2
VDDX
VDDR
VSS1
VSS2
VSSX
VSSR
VSSA
57
58
59
60
61
62
63
64
81
79
77
75
73
71
69
67
96
95
94
93
90
89
92
91
105
104
103
102
101
100
88
87
99
98
52
51
50
49
35
34
33
32
8
7
6
5
20
19
108
22
21
13
65
107
41
14
66
106
40
86
45
RTS
DTR
DATA
\EN_CLOCK
RSTB
\IRQIN
LIN_SUP
+5V
DATA
MON1
MON2
MON3
C24
C24
100nF
100nF
R1
10kR110k
R6
10kR610k
R7
10kR710k
R8
10kR810k
R9
10kR910k
8 7
HEADER4X2J2HEADER4X2
C20
C20
10uF/6,3V
10uF/6,3V
3
+5V
+
+
C1
C1
100uF/6,3V
100uF/6,3V
12
34
56
J2
Q3
BSS138Q3BSS138
VDD
R1810R18
10
Q6
BSS138Q6BSS138
+
+
C25
C25
10uF/6,3V
10uF/6,3V
100nF
100nF
3
L1
10uHL110uH
100uF/6,3V
100uF/6,3V
SELECT MODE
PASS
DEBUG
MASTER
PC MASTER
+
+
C21
C21
L2
100uHL2100uH
R2
+
+
3k6R23k6
R5
1%
1k2R51k2
1%
C2
C2
+9V
C6
100nFC6100nF
+9V
C9
C9
R12
R12
10uF/10V
10uF/10V
10k
10k
+
+
Q2
BSS84PQ2BSS84P
+5V
R15
R15
R16
R16
220
220
10k
10k
\IRQOUT
Q5
BSS138Q5BSS138
C23
C23
100nF
100nF
C22
C22
100nF
100nF
D1 MBRS140T3D1 MBRS140T3
2
SWE
5
COMP
TCAP3VCC
C3
220pFC3220pF
MBRS140T3D4MBRS140T3
U3 MC78L09U3 MC78L09
1
D4
GND
2
GND
SWC
DC
PK
U1
MC33063A/DU1MC33063A/D
IN3OUT
C17
C17
100nF
100nF
DTR
C19
C19
100nF
100nF
2
4
1
R3 1RR3 1R
8
7
6
R4 1RR4 1R
+
+
C4
C4
33uF/25V
33uF/25V
C7
100nFC7100nF
C8
+5V
100nFC8100nF
R10
R10
10k
10k
2
EN
3
Wake
8
INH
4
TxD
1
RxD
+5V
C13
C13
100nF
100nF
R17
R17
C14
C14
10k
10k
100nF
100nF
16
2
V+
1
VDD
C1+
C2+
3
C2-
C1-
11
R1in
T1in
12
T1out
R1out
10
T2in
R2in
9
R2out
T2out
6
V-
GND
U6
15
MAX202ECSEU6MAX202ECSE
Title
Title
Title
RS232_ LIN Inter face
RS232_ LIN Inter face
RS232_ LIN Inter face
Author:
Author:
Author:
Size
Size
Size
Schematic Name:
Schematic Name:
Schematic Name:
B
B
B
Design File Name:
Design File Name:
Design File Name:
Modify Date: Sheet
Modify Date: Sheet
Modify Date: Sheet
Copyright Motorola POPI Status:
Copyright Motorola POPI Status:
Copyright Motorola POPI Status:
2
MBRS140T3D5MBRS140T3
7
VSUP
GND
5
RTS
4
5
13
14
8
7
Petr Cholasta
Petr Cholasta
Petr Cholasta
C5
C5
100uF/25V
100uF/25V
LIN_SUP
D5
LIN
U4
MC33399/DU4MC33399/D
C18
C18
100nF
100nF
2001
2001
2001
+
+
BSS138Q1BSS138
6
Q4
BSS138Q4BSS138
MBRS140T3D3MBRS140T3
Q1
R19
R19
10k
10k
1
D2
D3
MBRS140T3D2MBRS140T3
1
+V
2
1
4
3
5
K1
PE014012K1PE014012
R111kR11
1k
+5V
D6
BAV99D6BAV99
MCSL Roznov
MCSL Roznov
MCSL Roznov
1. maje 1009
1. maje 1009
1. maje 1009
756 61 Roznov p.R., Czech Republic, Europe
756 61 Roznov p.R., Czech Republic, Europe
756 61 Roznov p.R., Czech Republic, Europe
00177_01
00177_01
00177_01
D:\R30322_MC159VIEW\MC\MC159\HW\LIN_MASTER\00177_01\00177_01.DSN
D:\R30322_MC159VIEW\MC\MC159\HW\LIN_MASTER\00177_01\00177_01.DSN
D:\R30322_MC159VIEW\MC\MC159\HW\LIN_MASTER\00177_01\00177_01.DSN
JP7JP7
JP8JP8
3
SIO
4
MON3
10
MON2
MON1
DATA
RSTB
\IRQIN
\IRQOUT
VDD
GND
CLOCK
MICROMATCH10/FEMALE
MICROMATCH10/FEMALE
DTR
RTS
CTS
DSR
CANNON9/FEMALE
CANNON9/FEMALE
11Tuesday, August 26, 2003
11Tuesday, August 26, 2003
11Tuesday, August 26, 2003
General Business
General Business
General Business
1
9
8
7
6
5
4
3
2
1
5
9
4
8
3
7
2
6
1
3
-V1
-V2
2
LIN_HDR4J3LIN_HDR4
of
of
of
Power JackJ1Power Jack
12V/5AmaxMON1
J3
J4
J4
J5
J5
J1
1
2
TX
RX
Rev
Rev
Rev
0.1
0.1
0.1
Figure A-1. LIN Master Board Schematic
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA Hardware Schematics 93
For More Information On This Product,
Go to: www.freescale.com
Page 94
Freescale Semiconductor, Inc.
Hardware Schematics
A.2 LIN Stepper Board Schematic
5
+
C1
100pC1100p
+
GND
VDD
C2
C2
330u/35
330u/35
J1
J1
D D
nc...
I
C C
CON/10MICROMATCH
CON/10MICROMATCH
B B
1
2
POWER_HDR4
POWER_HDR4
J2
J2
VSUP_LIN
3
4
10
9
8
7
6
5
4
3
2
1
1
PTB4/AD4
PTB3/AD3
PTA1/KBD1
PTA0/KBD0
RST
IRQ_RQ
IRQ_IN
VDD
VSS
PTC4/OSC
J6
HDR 1J6HDR 1
J5
HDR 1J5HDR 1
1
JP1
JP1
IRQ_IN
1
IRQ_RQ
2
HDR 2X1
HDR 2X1
A A
cale Semiconductor,
5
Figure A-2. LIN Enhanced Stepper Board Schematic
4
C3
100nC3100n
U1
U1
20
LIN
42
PTE1/RxD
41
RxD
54
PTA0/KBD0
53
PTA1/KBD1
52
PTA2/KBD2
50
PTA3/KBD3
49
PTA4/KBD4
14
PTA6/SSB
SSB
11
PTB1/AD1
8
PTB3/AD3
7
PTB4/AD4
SensorA1 SensorPA1
6
PTB5/AD5
SensorA2
2
PTB6/AD6/TBCH0
1
PTB7/AD7/TBCH1
5
PTC2/MCLK
4
PTC3/OSC2
3
PTC4/OSC1
BEMF
VDD_A
C4
100nC4100n
4
VDD_A
VSS_A
VSS
RST
12
PTD0/TACH0/BEMF
13
PTD1/TACH1
10
RSTB_MCU
17
RSTB_SMOS
9
IRQB_MCU/FLSEPGMN
51
FLSVPP
48
VREFH
47
VDDA
46
EVDD
43
VREFL
44
VSSA
45
EVSS
VSUP
27
24
VSUP
VSUP
GND
GND
30
25
PM908E625ACDWB
PM908E625ACDWB
GND
3
31
VSUP
IRQB_SMOS
3
GC3
GC3
CON
CON
HVDD
FGEN
BEMF
HB1
HB2
HB3
HB4
PA1
VDD
VSS
SSB
2
J3
1
2
3
4
VSS_A
VDD_A VDD
VDD
VSS
VSS_A
Monday, October 06, 2003
Monday, October 06, 2003
Monday, October 06, 2003
2003
2003
2003
00166_03
00166_03
00166_03
5
6
HDR 6X1J3HDR 6X1
J4
J4
1 2
3 4
65
7 8
HDR 4X2 RA
HDR 4X2 RA
LED_YELLD1LED_YELL
Motorola MCSL Roznov
Motorola MCSL Roznov
Motorola MCSL Roznov
1. maje 1009
1. maje 1009
1. maje 1009
756 61 Roznov p. R., Czech Republic, Europe
756 61 Roznov p. R., Czech Republic, Europe
756 61 Roznov p. R., Czech Republic, Europe
D:\R30322_MC159VIEW\MC\MC159\HW\00166_03\00166_03.DSN
D:\R30322_MC159VIEW\MC\MC159\HW\00166_03\00166_03.DSN
D:\R30322_MC159VIEW\MC\MC159\HW\00166_03\00166_03.DSN
23
26
29
32
28
HS
39
SensorH1
37
H1
SensorH2
36
H2
SensorH3
35
H3
34
38
+
+
C5
C5
2u2/10
40
18
19
15
16
33
NC
22
NC
21
NC
2u2/10
IRQ_RQ
SSB
FGEN
BEMF
VDD_AFGEN
GC2
GC2
CON
CON
GC1
GC1
CON
CON
Title
Title
Title
LIN H ID Lamp A ctuato r
LIN H ID Lamp A ctuato r
LIN H ID Lamp A ctuato r
Author:
Author:
Author:
Libor Prokop
Libor Prokop
Libor Prokop
Size
Size
Size
Schematic Name:
Schematic Name:
Schematic Name:
Custom
Custom
Custom
Design File Name:
Design File Name:
Design File Name:
Modify Date: Sheet
Modify Date: Sheet
Modify Date: Sheet
Copyright Motorola POPI Status:
Copyright Motorola POPI Status:
Copyright Motorola POPI Status:
2
1
R2
R1
470R2470
470R1470
SensorA2
SensorA1
R4
1k5R41k5
D1
Rev
Rev
Rev
1.0
1.0
1.0
of
of
of
11
11
11
General Business
General Business
General Business
1
Frees
Designer Reference Manual DRM047 — Rev 0
94 Hardware Schematics MOTOROLA
For More Information On This Product,
Go to: www.freescale.com
Page 95
Freescale Semiconductor, Inc.
Designer Reference Manual — DRM047
Appendix B. 908E625 Advantages and Features
This general purpose IC from Motorola has been developed as a highly
integrated and cost-effective solution for load driving within intelligent
LIN distributed architectures. It is especially suited to the control of
automotive mirror, door-lock, and light-levelling applications.
nc...
I
cale Semiconductor,
Frees
Figure B-1. 908E625 Simplified Block Diagram
This device is a multi-chip combination within a 54-lead Small Outline
Integrated Circuit (SOIC) package. It consists of a standard HC08 MCU
chip with SCI, SPI, internal oscillator, and FLASH memory, plus a Power
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MOTOROLA 908E625 Advantages and Features 95
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908E625 Advantages and Features
Die with four half-bridges and one high-side switch with diagnostic
functions combined with Hall sensor and analog inputs, a LIN physical
layer, and a voltage regulator.
908E625 Features:
• Multi-chip combination within a 54-lead SOIC package
• High-performance M68HC08 core
• 16K bytes of on-chip FLASH memory
• 512 bytes of RAM
• Internal clock generation module
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• 16-bit, 2-channel timet
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• 10-bit analog-to-digital converter (ADC)
• LIN physical layer interface
• Three 2-pin Hall sensor inputs
• One analog input with switchable current source
• Four low-resistive half-bridge outputs with current limitation
• One low-resistive high-side output
• 14 microcontroller I/Os
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Designer Reference Manual — DRM047
Appendix C. LIN Frames and Signals
This section describes LIN messaging with the frames, signals and the
LIN Stepper Controller functionality.
C.1 LIN Leveller Basic Frames
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Figure C-1 describes the LIN Leveller signals and frames.
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NOTE: The LIN messaging scheme, with exact signal description and updated
according to latest software modifications, is described in the file
Messaging_LIN_Levellew.xls which is provided with the application
software files.
The signal provider is the node that sends the response fields
(Section 9. References, 2) of the described frame. The signal acceptor
is the node that is programmed to act on the received frame (see
Section 4.1. Axis and Signal Providers and Acceptors).
The column Signal Functionality Description describes the LIN
Stepper Controller functionality according to the described signal. The
raw value range is the range of the signal in system units. Although the
LIN API specifies the unsigned signals, some signals (e.g. position) have
signed representation. The normalized value is a physical
representation of the signal (variable).
NOTE: The normalized value range is determined by the scaling factor. The
scaling constants RESOLUTION_FREQUENCY_HZ,
RESOLUTION_PERIOD_NS are defined and can be changed in the LIN
Stepper software header files.
See Sections 6.3.1, 6.3.2, 6.3.3, and 6.3.4 for information about scaling.
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MOTOROLA LIN Frames and Signals 97
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LIN Frames and Signals
Table C-1. LIN Leveller Messaging
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Signal
Provi
der
Master
Signal
Accep
tor(s)/
Axis
A1_1
A1_2
Frame Name
(ID)
(0x20)
frmPosCmdA1
Signal Name Signal Functionality Description
Required absolute Position. The LIN
l_u16_rd_positionReqA1
l_u8_rd_frequencyReqA1
l_bool_rd_flagClrA1
l_bool_rd_AppInitFlagA1
l_bool_rd_PosResetFlagA1
Stepper Controller acceptor provides
automatic control of the actual
position to this value
Required Frequency. The LIN Stepper
Controller acceptor provides
automatic position control with motor
actual stepping frequency trying to
ramp up (or down) to the Required
Frequency.
Clear Error Flag. The LIN Stepper
Controller acceptor provides all
system error clear
Application Initialization Flag. The LIN
Stepper Controller acceptor puts all
processes to the application
initialization state. The actual
position is not initialized in this state.
For details see Section 6.1.2.
Position and Speed Control
Caution: The application init. state is
unconditionally entered even if the
motor is not stopped. This can cause
the actual position to be lost.
Position Reset Flag. The LIN Stepper
Controller acceptor provides motor
position reset.
This position reset is described below:
- software controls the motor
stepping to the
positionResetRqValue.
- mechanical stall keeps the motor at
defined position (even the electrical
stepping is in progress)
- after actual position counter
reaches the positionResetRqValue,
the software sets the counter to
positionStall
For details see Section 6.1.2.
Position and Speed Control
Note: There can be other requirements
to control the motor to a reset
position, e.g. using stall detection or
Hall sensor. These were not used in
current software but can be easily
implemented on LIN Stepper
Controller
Raw
Value
Range
<0xC000,
0x3FFF>
x =
<0x00,
0xFF>
0 False
1 True
0 False
1 True
0
1
Normalized
Value
Range
<-16384,
16383>
f(x) =
RESOLU
TION_FR
EQUENC
Y_HZ *x
[Hz]
0-False
1-True
Designer Reference Manual DRM047 — Rev 0
98 LIN Frames and Signals MOTOROLA
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Table C-1. LIN Leveller Messaging (Continued)
LIN Frames and Signals
LIN Leveller Basic Frames
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Signal
Master
Master A2
Master A3
Signal
Provi
der
A1_1 Master
Accep
tor(s)/
Axis
A1_1
A1_2
Frame Name
(ID)
frmPosCmdA1
(0x20)
frmPosCmdA2
(0x23)
frmPosCmdA3
(0x25)
frmPosStatusA1_1
(0x21)
Signal Name Signal Functionality Description
Light On Flag. The LIN Stepper
Controller acceptor controls the High
l_bool_rd_LightOnFlagA1
l_u16_wr_positionActA1_1
l_u8_wr_frequencyActA1_1
l_u8_wr_uAppFlags1A1_1
Side switch of the power output. So
the connector J3 pin 6 can be used
for the light on/off control
same as frmPosCmdA1
but the acceptor is A2
same as frmPosCmdA1
but the acceptor is A3
Actual absolute Position. The LIN
Stepper Controller provider sends the
actual position of the position counter
Actual Frequency. The LIN Stepper
Controller provider sends the
actual motor stepping frequency
Application status Flags #1 The LIN
Stepper Controller provider sends
the status byte with the flags
bit0 StepRun - motor is stepping = run
bit1 StopTimeout - stop timeout (after
stepping before setting motor block)
bit2 PositPark - motor is actually
stopped with actual position =
positionPark
bi3 PositResetDone - position reset
was provided after last MCU reset
bit4 AppInitDone - application
initializationflag
0 - initialization started
1 - initialization done
bit5 LightOn - light (Hight side switch
on the connector J3 pin 6) set to on
bit6 StallDetected - NOT
IMPLEMENTED stall detected
bit7RotDirSign - motor rotation
direction signature
1 - actual position decremented
0 - actual position incrementing
Raw
Value
Range
0
1
<0xC000,
0x3FFF>
x =
<0x00,
0xFF>
0
1
Normalized
Value
Range
0-HS OFF
1-HS ON
<-16384,
16383>
f(x) =
RESOLU
TION_FR
EQUENC
Y_HZ *
x
[Hz]
0 - False
1 - True
A1_2 Master
A2 Master
A3 Master
frmPosStatusA1_2
(0x22)
frmPosStatusA2
(0x24)
frmPosStatusA3
(0x26)
same as frmPosStatusA1_1
but the signal provider is A1_2
same as frmPosStatusA1_1
but the signal provider is A2
same as frmPosStatusA1_1
but the signal provider is A3
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MOTOROLA LIN Frames and Signals 99
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LIN Frames and Signals
Table C-1. LIN Leveller Messaging (Continued)
Signal
Provi
der
A1_1 Master
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A1_2 Master
A2 Master
A3 Master
cale Semiconductor,
C.2 Node ID
Signal
Accep
tor(s)/
Axis
Frame Name
(ID)
frmAppStatusA1_1
(0x1C)
frmAppStatusA1_2
(0x1D)
frmAppStatusA2
(0x1E)
frmAppStatusA3
(0x1F)
Signal Name Signal Functionality Description
Application Error Flags. The LIN
Stepper Controller provider sends
the error byte with the flags
bit0 HighTemperature - Power Die
over temperature
bit1 HB_OverCur - H-bridge
overcurrent flag
bit2 HighVoltage - H-bridge high
voltage
l_u8_wr_AppErrFlagsA1_1
l_u8_wr_analogValueA1_1
bit3 LowVoltage - H-bridge low
voltage
bit4 PowerDieError - Power Die error
bit5 LINTxRxError - NOT
IMPLEMENTED
bit6 SICurrLim - serial input current
limitation
bit7 StopSpeedError - speed was too
enough when motor stopped
(possible loss of the step - used for
software debugging)
NOT IMPLEMENTED - any analog
value like temperature, DC bus
voltage, etc. can be send out from
the LIN Stepper Controller provider
same as frmAppStatusA1_1
but the signal provider is A1_2
same as frmAppStatusA1_1
but the signal provider is A2
same as frmAppStatusA1_1
but the signal provider is A3
Raw
Value
Range
0
1
Normalized
Value
Range
0 - False
1 - True
Frees
The controlled axis specifies the relation to the LIN basic messages;
each LIN Stepper Controller node relation to LIN messaging is specified
by two parameters
• the configured axis
• exclusive Node ID
The Node ID is used for configuration. The LIN Master Request and
Slave Response Frames (Command frames) used for configuration are
broadcast frames (each slave node acts upon them). We must
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