Freescale Semiconductor M68HC08 series Designer Reference Manual
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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
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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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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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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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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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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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System Concept
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• 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
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2.3 LIN Master
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• 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)
Designer Reference Manual DRM047 — Rev 0
22 System Concept MOTOROLA
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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
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA System Concept 23
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System Concept
2.3.4 Pass Mode
2.4 Personal Computer
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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
24 System Concept MOTOROLA
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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.
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA System Concept 25
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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.
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Designer Reference Manual DRM047 — Rev 0
26 System Concept MOTOROLA
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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
DRM047 — Rev 0 Designer Reference Manual
MOTOROLA Hardware Description 27
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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.
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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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28 Hardware Description MOTOROLA
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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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CON/10MICROMATCH
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1
J5
HDR 1
PTB4/AD4
PTB3/AD3
PTA1/KBD1
PTA0/KBD0
RST
IRQ_RQ
IRQ_IN
VDD
VSS
PTC4/OSC
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+
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
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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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30 Hardware Description MOTOROLA
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