Freescale Semiconductor MPC5604P User Manual

Freescale

User’s Guide

Document Number: MPC5604PUG

Rev. 0, 07/2012

MPC5604P Controller Board
User’s Guide

by: Petr Konvicny
Automotive and Industrial Solutions Group

1 About This Book

This document describes the design of MPC5604P
Controller Board, which is targeted for rapid
development of motor control applications.

To locate any published updates for this document, refer
to the world-wide web at: http://www.freescale.com/.

2 Introduction

Freescale MPC5604P Controller Board is a controller
board integrated to Freescale embedded motion-control
series of development tools. It is supplied with universal
interface interconnecting with, among others, one of the
embedded motion-power stages or evaluation boards,
providing a ready-made software-development platform
for a various electrical motors, DC converters.

The MPC5604P Controller Board is an
evaluation-module type of board which includes an
MPC5604P device, a various position sensing interfaces,

Contents

1 About This Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

2.1 Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2.2 MPC5604P Controller Board Architecture . . . . . . . . . . . . . . . 3

2.3 Board Jumper Configuration . . . . . . . . . . . . . . . . . . . . . . . . . 4

2.4 Board LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3 Interface Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3.1 Power Supply J100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3.2 UNI3 Interface J300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.3 MC33937A Interface J302 . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.4 Resolver Connector J207 . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.5 Encoder/Hall Connector J500 and J501 . . . . . . . . . . . . . . . 12

3.6 LIN Connector J101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.7 CAN Connector J103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.8 USB Connector J311 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.9 Header J10 and J15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.10 Header J4, J7, and J9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.11 Header J3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

4 Design Consideration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

4.1 MPC5604P Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

4.2 Clock Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

4.3 UNI3 Interfaces and External Fault Management . . . . . . . . 21

4.4 Encoder/Hall Sensor Interface . . . . . . . . . . . . . . . . . . . . . . . 22

4.5 Resolver and SinCos Sensor Interface . . . . . . . . . . . . . . . . 23

4.6 Analog Signal Sensing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

4.7 Power Supplies and Voltage Reference . . . . . . . . . . . . . . . 26

4.8 UNI-3 PFC-PWM Signal (Power Factor Correction) . . . . . . 27

4.9 UNI-3 Brake Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4.10 CAN Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4.11 FlexRAY Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

6 Board Set-Up Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

7 MPC5604P Controller Board Schematics . . . . . . . . . . . . . . . . . . . 29

8 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

© Freescale, Inc., 2012. All rights reserved.

Introduction

communications options, digital and analog power supplies, and peripheral expansion connectors. The
expansion connectors are intended for signal monitoring and user expandability. Test pads are provided for
monitoring critical signals and voltage levels.

The MPC5604P Controller Board facilitates the evaluation of various features present in the MPC5604P.
It can be used to develop real-time software and hardware products based on MPC5604P in TQFP144
package. It provides the features necessary for the user to write and debug software, demonstrate the
functionality of that software, and to interface with the customer’s application specific device(s). The
MPC5604P Controller Board is flexible enough to allow the users to fully exploit the MPC5604P features
to optimize the performance of their product, as shown in Figure 1.

2.1 Features

The MPC5604P Controller Board facilitates the evaluation of various features present in the MPC5604P.
Following are the board features:

• MPC5604P microcontroller, TQFP144 package

• JTAG/NEXUS interfaces for MCU code download and debugging

• System-basis chip MCZ33905D

• Motor control interface:

— UNI-3

— MC33937A predriver

— Resolver

— two Encoder/Hall sensors

• Connectivity interface:

—LIN

—CAN

—FlexRay

— USB interface

• LEDs:

— Power-supply indicators

— PWM control signals

— Faults monitoring

— SBC safe mode

— User application

• Two push buttons and switch for application control

• MCU pins accessible via pin headers

• Power plug 2.1mm connector.

MPC5604P Controller Board User’s Guide, Rev. 0

Freescale2

Introduction

2.2 MPC5604P Controller Board Architecture

The MPC5604P Controller Board is flexible enough to allow the user to fully exploit the MPC5604P
features to optimize a performance of their product. Its basic building blocks are depicted in Figure 1. The
block color differentiates a block function.

• Blue - MCU and application software download and the debug interface

• Green - Motor control related hardware

• Red - Board power supply and connectivity

• Violet - Application control

Figure 1. MPC5604P Controller Board Block Diagram

The board can be supplied by VBAT voltage in the range of 8V to 18V. The MC33905 provides two
independent voltage sources, one for supplying MCU and second for auxiliary logic. Both sources
provides either 3.3V or 5V, depending on the assembled SBC version.

The UNI-3 expansion interface enables MCU to direct control of the electrical motor or DC/DC
converters.

The Fault logic triggers several important system faults as described in a particular chapter. The circuitry
behavior depends on the selected configuration. For more info, see Section 3, “Interface Description.

The user can control the application using the rotary switch, USB interface (RS232), CAN and LIN buses.

The JTAG/NEXUS interfaces is present on-board to enable download and debugging of MCU code.

MPC5604P Controller Board User’s Guide, Rev. 0

Freescale 3

Introduction

For the on-board block location, see Figure 2.

Figure 2. MPC5604P Controller Board Block Location

2.3 Board Jumper Configuration

See Table 1 and Figure 3 for proper jumper configuration.

Table 1. MPC5604P Controller Board Jumper Options

# Selector Function Connections

JP1, JP2 CAN Terminate CAN bus node. closed

JP104 MC33905

debug mode

JP105 MC33905

save mode

JP200 Resolver Enable Resolver reference input

J203 Resolver REFSIN input Positive input for SIN OPAM

Enter SBC driver MC33905
to debug mode.

Enter SBC driver MC33905
to safe mode.

signal from MCU disabled.

Resolver reference input
signal from MCU enabled

is DC offset voltage set up by
trimmer R209.

Positive input for SIN OPAM
is REFSIN input of resolver.

closed

closed

open

closed

1-2

2-3

MPC5604P Controller Board User’s Guide, Rev. 0

Freescale4

Table 1. MPC5604P Controller Board Jumper Options

# Selector Function Connections

Introduction

J204 Resolver COS input Positive input for COS

OPAM is DC offset voltage
set up by trimmer R209.

Positive input for COS
OPAM is REFCOS input of
resolver.

J205 Phase A

digital signal

Resolver Phase A signal is
connected to GPIO F[13].

SIN/COS Phase A signal is
connected to GPIO F[13].

J206 Phase B

digital signal

Resolver Phase A signal is
connected to GPIO A[5].

SIN/COS Phase A signal is
connected to GPIO A[5].

J2 Resolver

input signal

Resolver reference signal is
generated by GPIO C[11].

Resolver reference signal is
generated by GPIO C[12].

J301 FAULT1 selection UNI-3 Phase A over-current

signal is connected to
FAULT1 input G[9].

UNI-3 DC-bus over-current
signal is connected to
FAULT1 input G[9].

J312 BOOT selection MPC5604P boot from

internal Flash.

J500 Encoder 0 Phase A Encoder0 JP500 pin three

PHASE A input signal is
connected to GPIO A[0].

UNI-3 BEMFZCA input
signal is connected to GPIO
A[0].

J501 Encoder 0 Phase B Encoder0 JP500 pin four

PHASE B input signal is
connected to GPIO A[1].

UNI-3 BEMFZCB input
signal is connected to GPIO
A[1].

J502 Encoder 0 Index Encoder0 JP500 pin five

INDEX input signal is
connected to GPIO A[2].

UNI-3 BEMFZCC input
signal is connected to GPIO
A[2].

1-2

2-3

1-2

2-3

1-2

2-3

2-3

1-2

1-2

2-3

closed

1-2

2-3

1-2

2-3

1-2

2-3

MPC5604P Controller Board User’s Guide, Rev. 0

Freescale 5

Introduction

Table 1. MPC5604P Controller Board Jumper Options

# Selector Function Connections

J503 Encoder 0 Home Encoder0 JP500 pin six

HOME input signal is
connected to GPIO A[3].

DC BUS Voltage DC BSUS Voltage signal

from UNI-3 is connected to
GPIO B[13], ADC 1 input
zero.

DC BUS Current DC BUS Current signal from

UNI-3 is connected to GPIO
B[15], ADC 1 input two.

Analog input 11 UNI-3 Phase A current is

connected to GPIO B[9],
ADC 0/1 input 11.

UNI-3 Phase A Back-EMF
Voltage is connected to
GPIO B[9]m ADC 0/1 input

11.

Analog input 12 UNI-3 Phase B current is

connected to GPIO B[10],
ADC 0/1 input 12

UNI-3 Phase B Back-EMF
Voltage is connected to
GPIO B[10]m ADC 0/1 input

12.

Analog input 13 UNI-3 Phase C current is

connected to GPIO B[11],
ADC 0/1 input 13.

UNI-3 Phase C Back-EMF
Voltage is connected to
GPIO B[11]m ADC 0/1 input

13.

closed

R315 populated

R316 populated

R318 populated

R320 populated

R322 populated

R324 populated

R325 populated

R326 populated

TEMP UNI-3 Temperature signal is

SERIAL UNI-3 Serial signal is

MPC5604P Controller Board User’s Guide, Rev. 0

R328 populated
connected to ADC0 input
zero.

R330 populated
connected to GPIO D[5].

Freescale6

Table 1. MPC5604P Controller Board Jumper Options

# Selector Function Connections

Introduction

BRAKE UNI-3 Brake output signal is

connected to GPIO C[3].

PFC UNI-3 PFC output signal is

connected to GPIO G[6]
(PWMA3).

PFC_EN UNI-3 PFC Enable signal is

connected to GPIO G[7]
(PWMB3).

PFC_ZC UNI-3 PFC zero current

signal is connected to GPIO
G[5] (PWMX3).

R333 populated

R334 populated

R335 populated

R336 populated

Figure 3. MPC5604P Controller Board Jumper Position

2.4 Board LEDs

The Table 2 displays the on-board LEDs. For on-board LED locations, see Figure 2.

MPC5604P Controller Board User’s Guide, Rev. 0

Freescale 7

Interface Description

Table 2. On-board LEDs

LED Signal Name Description

D114 /SAFE MCZ33905 safe pin state

(ON - SBC in safe mode)

D14 +3.3Vdc + 3.3V AUX power supply

D1 PWM0 A0 Motor 1 Phase A bottom

switch signal

D2 PWM0 B0 Motor 1 Phase B bottom

switch signal

D3 PWM0 A1 Motor 1 Phase C bottom

switch signal

D4 PWM0 B1 Motor 1 Phase C top switch

signal

D5 PWM0 A2 Motor 1 Phase B top switch

signal

D6 PWM0 B2 Motor 1 Phase A top switch

signal

D7 FAULTB0 Motor 1 FAULTB0 signal

D8 FAULTB1 Motor 1 FAULTB1 signal

D9 FAULTB2 Motor 1 FAULTB2 signal

D10 FAULTB3 Motor 1 FAULTB3 signal

D11 A12 User LED 1

D12 PHASEA0 Encoder 1 input A signal

D15 PHASEB0 Encoder 1 input B signal

D17 INDEX0 Encoder 1 input INDEX

signal

D13 PWM0 A3 PWM module 0, A3 output

D16 PWM0 B3 PWM module 0, B3 output

D18 A13 User LED 1

3 Interface Description

The following chapters summarize the on-board connectors and headers pin-outs, signal meanings and
MCU pins assignments.

3.1 Power Supply J100

The MPC5604P Controller Board can be supplied either by using the 2.1 mm DC power plug J100 or the
UNI-3 connector (J300, pin 19).

MPC5604P Controller Board User’s Guide, Rev. 0

Freescale8

Interface Description

The controller board is powered from two independent voltage regulators which provides 5V for a
auxiliary logic and 5V for MCU and debugger logic. Both voltages are generated by the MC33905 SBC
integrated circuit. Proper operation is monitored by LED D114 for the AUX 3.3V line, see Table 2.

The board is designed to operate in the voltage range from 8V to 18V. The board is protected against a
reverse battery.

3.2 UNI3 Interface J300

The UNI-3 interface (connector J300) defines the interface between the MPC5604P Controller Board and
a 3 phase electrical motor power stages.

The list of UNI-3 signals follows:

• Control signals:

— PWM phase A, B, C top and bottom switches control

— Brake signal control

— Power Factor Correction (PFC)

• Monitor signals

— DC-bus voltage

— DC-bus current

— Phase A, B, C current

— Zero-cross signals

— Back-EMF phase A, B, C

— Temperature monitoring

• Power Supply 12V

• Serial line - a bidirectional communication line between the Controller Board and Power Stage

The Table 3 defines the UNI-3 pin-out and pin assignment to the MCU.

Table 3. Motor 1 - UNI-3 Signal Description

Interface Pin Signal Name MCU Signal Description Direction

1 PWM_AT PWM_A0 Phase A top switch

control (H -> Turn OFF)

3 PWM_AB PWM_B0 Phase A bottom switch

control (H -> Turn ON)

5 PWM_BT PWM_A1 Phase B top switch

control (H -> Turn OFF)

7 PWM_BB PWM_B1 Phase B bottom switch

control (H -> Turn ON)

Digital output

Digital output

Digital output

Digital output

9 PWM_CT PWM_A2 Phase C top switch

11 PWM_CB PWM_B2 Phase C bottom switch

MPC5604P Controller Board User’s Guide, Rev. 0

Freescale 9

Digital output

control (H -> Turn OFF)

Digital output

control (H -> Turn ON)

Interface Description

Table 3. Motor 1 - UNI-3 Signal Description

Interface Pin Signal Name MCU Signal Description Direction

2,4,6,8,10 Shield — PWM signals shield

—

(grounded on the power

stage side only)

12,13 GND_D — Digital power supply

—

ground

14,15 +5V DC — +5V digital power supply —

17,18 AGND — Analog power supply

—

ground

19 +12/+15V DC — Analog power supply —

16,20,27,28,37 NC — Not connected —

21 V

BUS B[13] DC-bus voltage

DC

Analog input

sensing, 0V – 3.3V,

ADC1 channel 0

22 I

BUS B[15] DC-bus current sensing,

DC

Analog input

0V – 3.3V, ADC1

channel 2

23 I

A

B[9] Phase A current

Analog input

sensing, 0V – 3.3V,

ADCx channel 11

24 I

B

B[10] Phase B current

Analog input

sensing, 0V – 3.3V,

ADCx channel 12

25 I

C

B[11] Phase C current

Analog input

sensing, 0V – 3.3V,

ADCx channel 13

26 TEMP B[7] Analog temperature 0V

Analog input

– 3.3V, ADC0 channel 0

29 BRAKE_CONT EIRQ#22 DC-bus brake control Digital output

30 SERIAL D[5] Serial interface Digital bi-directional

31 PFC PWM_A3 Power factor correction

Digital output

PWM

32 PFCEN PWM_B3 Power factor correction

Digital output

enable

33 PFCZC PWM_X3 Power factor correction

Digital input

Zero-cross

34 ZCA D[9] or A[0] Phase A Back-EMF

Digital input

zero crossing

35 ZCB D[12] or A[1] Phase B Back-EMF

Digital input

zero crossing

MPC5604P Controller Board User’s Guide, Rev. 0

Freescale10

Interface Description

Table 3. Motor 1 - UNI-3 Signal Description

Interface Pin Signal Name MCU Signal Description Direction

36 ZCC G[2] or A[2] Phase C Back-EMF

zero crossing

38 Back-EMF_A B[9] Phase A Back-EMF

voltage sensing

39 Back-EMF_B B[10] Phase B Back-EMF

voltage sensing

40 Back-EMF_C B[11] Phase C Back-EMF

voltage sensing

Digital input

Analog input

Analog input

Analog input

3.3 MC33937A Interface J302

When using a Freescale 3-phase power stages, the electrical inverter switches are controlled by the
MC33937A pre-driver. The device behavior is configured by this interface, see Table 4.

Table 4. Motor 1 - MC33937A Signal Description

Interface Pin Signal Name MCU Signal Description Direction

1 NC — Not connected. —

2 NC — Not connected. —

3 33937_EN G[0] Motor 1 device-enable

output.

4 33937_OC C[8] Over-current input. Digital input

Digital output

5 33937_/RST C[10] Reset output. Active in

low.

6 33937_INT C[9] Interrupt pin. Digital input

7 33937_SOUT DSPI3_SIN Input data from

MC33937 SPI port.
Tri-state until CS
becomes low.

8 33937_SCK DSPI3_SCK Clock for SPI port.

Output.

9 33937_CS DSPI3_/CS0 Chip-select 0 output. It

frames SPI command
and enables SPI port.

10 33937_SIN DSPI3_SOUT Output data for

MC33937 SPI port.
Clocked on the falling
edge of SCLK, MSB
first.

Digital output

Digital input

Digital output

Digital output

Digital output

3.4 Resolver Connector J207

The controller board is able to calculate motor rotor position from resolver or SIN/COS sensor. They are
connected to the board through connectors J207, Tab le 5 shows pin description.

MPC5604P Controller Board User’s Guide, Rev. 0

Freescale 11

Interface Description

Table 5. Resolver Signal Description

Interface Pin Signal Name MCU Signal Description Direction

1 RES_GEN Positive sinusoidal

reference signal for
resolver
Signal output range
from 0 V up to +12 V

2 GNDP Ground for reference

signal

3 SIN SIN input signal Differential analog input

4 REFSIN SIN reference input

signal

5 COS COS input signal Differential analog input

6 REFCOS COS reference input

signal

7 GNDA Analog ground —

8 +5VA +5V Analog Power

supply

Output

—

Differential analog input

Differential analog input

—

3.5 Encoder/Hall Connector J500 and J501

The motor rotor position can be transformed from encoder or Hall rotor position sensor. They can be
connected to the board through connector J500 and J501. For proper signal connection, see Table 6.

Table 6. Encoder/Hall Signal Description

Interface Pin Signal Name MCU Port Description Direction

1 +5Vdc — +5V sensor supply

voltage

2GND— Ground—

3 ENC1_PhaseA /

HALL0
ENC2_PhaseA /
HALL0

4 ENC1_PhaseB /

HALL1
ENC2_PhaseB /
HALL1

5 ENC1_INDEX /

HALL2
ENC2_INDEX /
HALL2

6 ENC1_HOME A[3] Digital input signals

A[0]
C[13]

A[1]
C[14]

A[2]
F[12]

Digital input signal phase
A or Hall 0 input signal

Digital input signals
phase B or Hall 1 input
signal

Digital input signals
INDEX or Hall 2 input
signal

HOME

—

Digital input

Digital input

Digital input

Digital input

MPC5604P Controller Board User’s Guide, Rev. 0

Freescale12

Interface Description

Table 7. J6 Header Signal Description

Interface Pin Signal Name MCU Port Description Direction

1 PHASEB0 A[1] Encoder 1 digital input signal

phase B.

2 PHASEA0 A[0] Encoder 1 digital input signal

phase A.

3 HOME0 A[3] Encoder 1 digital input signal

Home.

4 INDEX0 A[2] Encoder 1 digital input signal

Index.

5 ET0_4 C[11] eTimer0 channel 4

output/input

6 ET0_5 C[12] eTimer0 channel 5

output/input

7 +3.3Vdc — +3.3Vdc power supply —

8 GND — Ground —

Digital input

Digital input

Digital input

Digital input

Digital I/O

Digital I/O

Table 8. J8 Header Signal Description

Interface Pin Signal Name MCU Port Description Direction

1 PHASEB1 C[14] Encoder 2 digital input

signal phase B.

2 PHASEA1 C[13] Encoder 2 digital input

signal phase A.

3NC ———

4 INDEX1 F[12] Encoder 2 digital input

signal Index.

5 PHASE_A F[13] eTimer1 channel 4

output/input

Digital input

Digital input

Digital input

Digital I/O

6 PHASE_B A[5] eTimer1 channel 5

7 +3.3Vdc — +3.3Vdc power supply —

8 GND — Ground —

3.6 LIN Connector J101

The MC33905 LIN transceiver is used as an on-board LIN hardware interface. The LIN node can be
configured to either the Master or Slave mode, see Tab le 1.

A Table 9 shows the LIN connector pin-out and pin assignment to the MCU.

MPC5604P Controller Board User’s Guide, Rev. 0

Freescale 13

Digital I/O

output/input