dm00291039

UM2067
User manual
Getting started with the STEVAL-3DP001V1 3D printer board
Introduction
The STEVAL-3DP001V1 is a complete and integrated solution for driving all 3D printers on the market,
including Delta models requiring more complex computation. The solution is ideal for both beginners
and experienced users. It is autonomous and can be used with a software interface or with custom
firmware thanks to the embedded STM32 microcontroller based on the ARM 32-bit Cortex M4 core. The
STEVAL-3DP001V1 is designed to drive 3D printers providing several axes (6 motors), several
extruders (1 to 3), and multi-zone heating bed (1 to 3).
The STEVAL-3DP001V1 features integrated Wi-Fi connectivity, enabling the user to drive a 3D printer
using a smartphone or tablet. The solution is also designed to work with 3D printer tools, such as
Pronterface. USB connectivity is available through Virtual COM port, mini USB OTG and Dongle USB A.
Moreover, the board includes a complete debug solution (STLINK-V2), a tool that is appreciated by
developers.
The STEVAL-3DP001V1 allows connection to another board (e.g. Raspberry board or user board), with
a connector that provides drive power (5 V - 3.3 V) and digital interface (SPI-I²C-ADC-GPIOS-SD-USB).
Figure 1: STEVAL-3DP001V1 3D printer board
May 2016
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www.st.com
Contents
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Contents
1
Acronyms and abbreviations ......................................................... 6
2
Hardware .......................................................................................... 7
2.1
Power supply board (not included) .................................................... 7
2.2
Hardware description ........................................................................ 8
2.4
Power supplies .................................................................................. 9
2.4.2
3.3 V supply ........................................................................................ 9
Heated beds ...................................................................................... 9
2.6
Extruders ......................................................................................... 10
2.7
Axes ................................................................................................ 12
2.8
Connectivity..................................................................................... 14
2.8.1
SPWF01SA Wi-Fi ............................................................................. 14
2.8.2
MicroSD ............................................................................................ 14
2.8.3
USB OTG ......................................................................................... 14
2.8.4
USB Dongle ...................................................................................... 14
2.8.5
Switches ........................................................................................... 14
2.8.6
Expansion connector ........................................................................ 14
Debug ............................................................................................. 15
Firmware ........................................................................................ 17
3.1
3.2
3.3
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5 V supply ........................................................................................... 9
2.5
2.9
3
2.4.1
Firmware architecture ..................................................................... 17
3.1.1
STM32Cube architecture.................................................................. 17
3.1.2
Marlin overview ................................................................................. 18
3.1.3
Marlin4ST architecture ..................................................................... 19
Firmware folder structure ................................................................ 19
3.2.1
BSP folders ....................................................................................... 20
3.2.2
Middleware folder ............................................................................. 21
3.2.3
Project folder .................................................................................... 21
Building and loading the firmware ................................................... 21
3.3.1
Building the firmware with the OpenSTM32 IDE .............................. 21
3.3.2
Building the firmware with IAR IDE .................................................. 25
3.3.3
Compilation flags .............................................................................. 26
3.3.4
Loading firmware .............................................................................. 26
3.4
Hardware resource mapping ........................................................... 27
3.5
Wi-Fi and web server ...................................................................... 28
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Contents
3.6
3.5.1
Loading the Wi-Fi firmware .............................................................. 28
3.5.2
Configuring the Wi-Fi module ........................................................... 28
3.5.3
Using the web pages ........................................................................ 29
3.5.4
Customizing the web pages ............................................................. 34
Serial port ........................................................................................ 35
3.6.1
3.7
Printing via serial port ....................................................................... 35
SD card ........................................................................................... 36
3.7.1
Configuration file ............................................................................... 36
3.7.2
Printing from the SD ......................................................................... 36
4
References ..................................................................................... 37
5
Revision history ............................................................................ 38
Appendix A
OpenSTM32 installation ........................................... 39
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List of tables
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List of tables
Table 1: List of acronyms ............................................................................................................................ 6
Table 2: Power connector ........................................................................................................................... 9
Table 3: Heated bed connectors ............................................................................................................... 10
Table 4: Extruders - head connectors ....................................................................................................... 11
Table 5: Extruders - stepper motor connectors (U-V-W axes) ................................................................. 11
Table 6: End stop levels............................................................................................................................ 12
Table 7: X-Y-Z steppers motors connections ........................................................................................... 12
Table 8: U-V-W steppers motor connections (extruders) ......................................................................... 13
Table 9: End stop connections ................................................................................................................. 13
Table 10: Expansion connector ................................................................................................................ 15
Table 11: Document revision history ........................................................................................................ 38
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List of figures
List of figures
Figure 1: STEVAL-3DP001V1 3D printer board ......................................................................................... 1
Figure 2: EVL400W-APD/ATX board.......................................................................................................... 7
Figure 3: Jumpers and connectors ............................................................................................................. 8
Figure 4: LED arrangement ........................................................................................................................ 8
Figure 5: Firmware architecture ................................................................................................................ 17
Figure 6: Marlin4ST firmware architecture................................................................................................ 19
Figure 7: OpenSTM32 – Eclipse IDE main window .................................................................................. 22
Figure 8: OpenSTM32 – selecting import option ...................................................................................... 22
Figure 9: OpenSTM32 – selecting project to import ................................................................................. 23
Figure 10: OpenSTM32 – generated binary files ...................................................................................... 24
Figure 11: OpenSTM32 – open Debug Configurations ............................................................................ 24
Figure 12: OpenSTM32 – Debugger configuration ................................................................................... 25
Figure 13: IAR IDE main window .............................................................................................................. 26
Figure 14: axisctrl.shtml web page ........................................................................................................... 30
Figure 15: command.shtml web page ....................................................................................................... 31
Figure 16: heatctrl.shtml web page ........................................................................................................... 31
Figure 17: extructrl.shtml web page .......................................................................................................... 32
Figure 18: filemgt.shtml web page ............................................................................................................ 33
Figure 19: wifictrl.html web page .............................................................................................................. 34
Figure 20: Main window of Pronterface .................................................................................................... 36
Figure 21: Network configuration in Eclipse ............................................................................................. 39
Figure 22: Eclipse – available software selection ..................................................................................... 40
Figure 23: Eclipse – OpenSTM32 site information ................................................................................... 40
Figure 24: OpenSTM32 AC6 tools installation ......................................................................................... 41
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Acronyms and abbreviations
1
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Acronyms and abbreviations
Table 1: List of acronyms
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Acronym
Description
API
Application programming interface
BSP
Board support package
CMSIS
Cortex® microcontroller software interface standard
FW
Firmware
HAL
Hardware abstraction layer
IDE
Integrated development environment
LED
Light emitting diode
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2
Hardware
Hardware
The STEVAL-3DP001V1 integrates all the functions needed to drive most 3D printers on
the market; it features:







2.1
Ready for the next generation of 3D printers

Multiple extruders support (up to 3) with temperature and fan control, LED display
status, 12 V supply voltage and current capability up to 8 A

Multiple peripheral support and easy interfacing

Hot chamber and multi-zone heating bed with temperature control, LED display
status, 12 V or 24 V supply voltage and current capability up to 20 A
High efficiency and small footprint thanks to low RDS(on) MOSFETs
Open source firmware available
Main peripherals supported:

USB and microSD modules embedded

Wi-Fi module embedded with web server available

External LCD/keypad
Based on STSPIN L6474 stepper motor driver with unique features in terms of current
control and protection (able to drive up to 6 axes; phase current up to 3 Arms; microstepping digital and end stop)
Integrated debug solution (STLINKV2 embedded)
RoHS compliant
Power supply board (not included)
The EVL400W-ADP/ATX board is recommended for supplying the 3D printer reference
board. This SMPS provides 12 V 400 W regulated output from a universal 90 to 264 VAC
input voltage range.
All relevant information is available on www.st.com in the relevant product page.
Figure 2: EVL400W-APD/ATX board
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Hardware
2.2
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Hardware description
Figure 3: Jumpers and connectors
Figure 4: LED arrangement
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2.4
Hardware
Power supplies
The board is designed to be powered from two external supply voltages (see Table 2:
"Power connector"):
The main supply powers all the board features except the heated beds (extruders, motors,
5 V regulator, 3.3 V regulator). The supply can be supplied between J1-1 and J1-2, or
between TP1 and TP3 test points if more than 20 A is required for board operation.
The heated beds are supplied through a dedicated input supporting both 12 or 24 V,
depending on the heated beds requirements. The supply is connected between J1-3 and
J1-4, or between TP2 and TP4 test points for currents above 30 A.
Table 2: Power connector
Connector
Pin
Signal
Notes
1
12 V
12 V main power supply (20 A max.)
2
GND
GND for 12 V
3
GND
GND for heated beds power
4
12 / 24 V
J1
2.4.1
Heated beds power supply (30 A max.)
5 V supply
The board generates a regulated 5 V supply for on-board circuitry, and user boards via the
J23-37 pin.
5 V can be supplied through the ST-LINK USB instead of the external 12 V power supply,
in which case the current is limited to 500 mA.
If LED D7 signals an overcurrent condition, disconnect the USB connector from J11.
2.4.2
3.3 V supply
The board generates a regulated 3.3 V supply for on-board digital (VDD_3V3) and analog
(AVDD_3V3) circuitry, and user boards via the J23-40 pin.
LED D5 lights green when the 3.3 V supply is present.
2.5
Heated beds
The board can drive up to three heated beds with maximum 20 A each; all the beds are
controlled independently.
The bed wires must be connected to the J8 connector; the thermistor (NTC) feedback for
individual bed temperature control is connected to the J9 connector as per Table 3:
"Heated bed connectors".
The recommended NTC value is 100 kΩ at 25 °C.
If one of the bed drivers is not used, the respective J8 and J9 connector lines can be left
floating.
The status of each bed is signaled thus:



D18 (red): heated bed 1 ON
D19 (red): heated bed 2 ON
D20 (red): heated bed 3 ON
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Table 3: Heated bed connectors
Connector
Pin
Signal
Notes
1
BED1+
2
BED2+
3
BED3+
4
BED1-
Open drain power switch
5
BED2-
Open drain power switch
6
BED3-
Open drain power switch
1
NTC+ bed1
2
NTC+ bed2
3
NTC+ bed3
4
NTC- bed 1, 2, 3
12 / 24 V permanent
(20 A max. each)
J8
J9
2.6
GND
Extruders
The board can drive up to three fully independent extruders, with:




a hot-end
a 12 V fan
a thermistor (NTC, 100 kΩ at 25 °C recommended)
a stepper motor
The hot-end wires must be connected to the J12 connector (max. 8 A current each line)
and the NTC temperature control feedback and fan driver for each extruder to J13, J14 and
J15 connectors as per Table 4: "Extruders - head connectors".
The status of each hot-end is signaled thus:



D15 (green): hot-end 1 ON
D16 (green): hot-end 2 ON
D17 (green): hot-end 3 ON
The printing material feeders (stepper motors) are connected to J5, J6 and J7 connectors
as per Table 5: "Extruders - stepper motor connectors (U-V-W axes)".
If one of the extruders is not used, the corresponding connector line can be left floating or
used for other purposes.
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Hardware
Table 4: Extruders - head connectors
Connector
Pin
Signal
Notes
1
Extruder 1 hot-end+
2
Extruder 2 hot-end+
3
Extruder 3 hot-end+
4
Extruder 1-
Open drain power switch
5
Extruder 2-
Open drain power switch
6
Extruder 3-
Open drain power switch
1
FAN+ Extruder 1
12 V permanent
2
FAN- Extruder 1
Open drain power switch
3
NTC- Extruder 1
GND
4
NTC+ Extruder 1
1
FAN+ Extruder 2
12 V permanent
2
FAN- Extruder 2
Open drain power switch
3
NTC- Extruder 2
GND
4
NTC+ Extruder 2
1
FAN+ Extruder 3
12 V permanent
2
FAN- Extruder 3
Open drain power switch
3
NTC- Extruder 3
GND
4
NTC+ Extruder 3
12 V permanent
(8 A max. each)
J12
J13
J14
J15
Table 5: Extruders - stepper motor connectors (U-V-W axes)
Connector
Pin
Signal
1
Phase B+
2
Phase B-
3
Phase A-
4
Phase A+
1
Phase B+
2
Phase B-
3
Phase A-
4
Phase A+
1
Phase B+
2
Phase B-
3
Phase A-
4
Phase A+
J5
J6
J7
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Notes
Stepper motor of Extruder 1 - U axis
(2 A / phase max.)
Stepper motor of Extruder 2 - V axis
(2 A / phase max.)
Stepper motor of Extruder 3 - W axis
(2 A / phase max.)
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Hardware
2.7
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Axes
The reference board can drive 3D printers with 3-axis positioning and up to 3 extruders or
other devices, providing up to 6-axis positioning using the extruder stepper motors as extra
axes.
For each axis, a digital end stop input can be set to active level high or low (see Table 6:
"End stop levels"). The end stops are connected to J16 and J18 as per Table 9: "End stop
connections".
The stepper motors driving each axis must be connected to the respective connector, as
per Table 7: "X-Y-Z steppers motors connections" and Table 8: "U-V-W steppers motor
connections (extruders)".
Table 6: End stop levels
End stop
Level of end stop
Resistor set up
High ( default)
R49 = 0 / R52 = not populated
X end stop level
Low
R49 = NP / R52 = 0
High ( default)
R48 = 0 / R53 = not populated
Y end stop level
Low
R48 = NP / R53 = 0
High (default)
R46 = 0 / R54 = not populated
Z end stop level
Low
R46 = NP / R54 = 0
High (default)
R47 = 0 / R55 = not populated
U end stop level
Low
R47 = NP / R55 = 0
High (default)
R50 = 0 / R56 = not populated
V end stop level
Low
R50 = NP / R56 = 0
High (default)
R51 = 0 / R57 = not populated
W end stop level
Low
R51 = NP / R57 = 0
Table 7: X-Y-Z steppers motors connections
Connector
Pin
Signal
1
Phase B+
2
Phase B-
3
Phase A-
4
Phase A+
1
Phase B+
2
Phase B-
3
Phase A-
4
Phase A+
1
Phase B+
2
Phase B-
3
Phase A-
4
Phase A+
J2
J3
J4
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Notes
Stepper motor of axis X
(2 A / phase max.)
Stepper motor of axis Y
(2 A / phase max.)
Stepper motor of axis Z
(2 A / phase max.)
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Hardware
Table 8: U-V-W steppers motor connections (extruders)
Connector
Pin
Signal
1
Phase B+
2
Phase B-
3
Phase A-
4
Phase A+
1
Phase B+
2
Phase B-
3
Phase A-
4
Phase A+
1
Phase B+
2
Phase B-
3
Phase A-
4
Phase A+
J5
J6
J7
Remarks
Stepper motor of Extruder 1 - U
axis
(2 A / phase max.)
Stepper motor of Extruder 2 - V
axis)
(2 A / phase max.)
Stepper motor of Extruder 3 - W
axis
(2 A / phase max.)
Table 9: End stop connections
Connector
Pin
Signal
1
X end stop
output
2
X end stop
level
3
Y end stop
output
4
Y end stop
level
5
Z end stop
output
6
Z end stop
level
1
U end stop
output
2
U end stop
level
3
V end stop
output
4
V end stop
level
5
W end stop
output
6
W end stop
level
Remarks
J16
J18
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2.8
Connectivity
2.8.1
SPWF01SA Wi-Fi
Further information regarding the embedded SPWF01SA 802.11 b/g/n-compliant Wi-Fi
module is available at www.st.com, including the datasheet.
The SPWF01SA Wi-Fi status is signaled thus:



2.8.2
LED D24 (green): power ON
LED D25 (green): Link up
LED D26 (green): Wi-Fi running
MicroSD
The board includes a microSD connector, compliant with SD Memory card specification
V2.0, supporting 1- and 4-bit databus modes.
The signals for SD communication are also available on user connector J23, making it
possible to add another SD card.
2.8.3
USB OTG
The board includes a USB OTG interface, available on the J20 Mini-B USB connector.
USB OTG Mini-B (J20) and USB dongle (J19) cannot be used simultaneously as
they share the same USB interface.
2.8.4
USB Dongle
The board can accept a USB dongle via the J19 type-A USB connector.
The 5 V supply of the USB dongle connector is limited to 800 mA. If this value is exceeded,
LED D8 (red) indicates an overcurrent condition. In this case, disconnect the USB dongle
from the J19 connector.
USB OTG Mini-B (J20) and USB dongle (J19) cannot be used simultaneously as
they share the same USB interface.
2.8.5
Switches
Reset switch SW1 resets all board CPUs and peripherals.
User switch SW2 is for user interaction; it can be configured in the firmware to trigger
start/stop routines or other functions.
2.8.6
Expansion connector
The J23 40-pole connector allows extending the 3D printer reference board functionality
with the connection of more hardware.
The following signals and peripherals are available on the connector (detailed pinout in
Table 10: "Expansion connector"):


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Axes end stop signals
Heated bed NTC feedback signals
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Hardware









Heated bed PWM signals
Fan PWM signal (see Section 2.5: "Extruders")
SD card interface
SPI interface
UART interface
I²C interface
USB interface (shared between USB OTG and USB dongle)
4 GPIOs
5 V supply, 3.3 V supply and ground
Table 10: Expansion connector
2.9
Pin
Signal
1
W end stop
3
Remarks
Pin
Signal
Remarks
GPIO
2
V end stop
GPIO
U end stop
GPIO
4
Z end stop
GPIO
5
Y end stop
GPIO
6
X end stop
GPIO
7
NTC bed3
ADC
8
NTC bed2
ADC
9
NTC bed1
ADC
10
SD Dat1
SDIO
11
SD Dat0
SDIO
12
SD Clk
SDIO
13
SD CMD
SDIO
14
SD Dat3
SDIO
15
SD Dat2
SDIO
16
SD CD
SDIO
17
SPI MISO
SPI
18
SPI NSS
SPI
19
SPI SCK
SPI
20
SPI MOSI
SPI
21
V USB dongle
Power
22
USB OTG DM
USB
23
UART TX
UART
24
USB OTG DP
USB
25
UART RX
UART
26
I²C SCL
I²C
27
User 3
GPIO
28
I²C SDA
I²C
29
User 4
GPIO
30
Fan 3
GPIO
31
Bed Heat1
GPIO
32
Fan 2
GPIO
33
Bed Heat2
GPIO
34
Fan 1
GPIO
35
Bed Heat3
GPIO
36
User 1
GPIO
37
User 2
GPIO
38
VDD 5V
Power
39
GND
Power
40
VDD 3V3
Power
Debug
The board embeds an ST-LINK/V2-1 debbuger/programmer. The features supported on
ST-LINK are:




USB software re-enumeration
Virtual com port interface on USB
Mass storage interface on USB
USB power management request for more than 500 mA power on USB
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The power supply for ST-LINK is provided either by the host PC through the USB cable
connected to J11 or from the 12 V power supply (VDD_power). Both supplies must be
present for ST-LINK debugging functions.
LEDs D29 (green) and D30 (red) provide ST-LINK communication status information:






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Red LED flashing slowly: at power-on before USB initialization
Red LED flashing quickly: following first correct communication between the PC and
ST-LINK/V2-1 (enumeration)
Red LED ON: initialization between the PC and ST-LINK/V2-1 is complete
Green LED ON: successful target communication initialization
Red/Green LED flashing: during communication with target
Green ON: communication finished and successful.
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Firmware
3
Firmware
3.1
Firmware architecture
The Marlin4ST firmware is the default firmware for the STEVAL-3DP001V1 3D printer
board. It runs on the STM32F401 and is fully capable of handling 3D prints from G-Codes
(Marlin format). The prints can be performed via the UART, SD or Wi-Fi interfaces.
It can be interfaced with 3D printer host software like Pronterface, Repetier Host and
OctoPrint via UART.
The firmware comes with the complete source code for the OpenSTM32 (free) and IAR
development environments.
By default, it is configured to run on a Prusa I3 rework 5, but it can easily be set up to run
on any FDM 3D printer.
The firmware is organized into a drivers section with STM32Cube microcontroller and
peripheral drivers, a middleware section with STM32Cube FatFs and Marlin algorithms for
motion control, G-Codes, etc., and an application section with user command entry points.
3.1.1
STM32Cube architecture
The STM32Cube firmware solution is built around three independent levels that can easily
interact with one another, as described in the diagram below.
Figure 5: Firmware architecture
Level 0: This level is divided into three sub-layers:

Board Support Package (BSP): this layer offers a set of APIs relative to the hardware
components in the hardware boards (Audio codec, IO expander, Touchscreen, SRAM
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Firmware
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

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driver, LCD drivers. etc…); it is based on modular architecture allowing it to be easily
ported on any hardware by just implementing the low level routines. It is composed of
two parts:

Component: is the driver relative to the external device on the board and not
related to the STM32, the component driver provides specific APIs to the external
components of the BSP driver, and can be ported on any other board.

BSP driver: links the component driver to a specific board and provides a set of
easy to use APIs. The API naming convention is BSP_FUNCT_Action(): e.g.,
BSP_LED_Init(), BSP_LED_On().
It is based on modular architecture allowing is to be easily ported on any hardware by
just implementing the low level routines.
Hardware Abstraction Layer (HAL): this layer provides the low level drivers and the
hardware interfacing methods to interact with the upper layers (application, libraries
and stacks). It provides generic, multi-instance and function-oriented APIs to help
offload user application development time by providing ready to use processes. For
example, for the communication peripherals (I²C, UART, etc.) it provides APIs for
peripheral initialization and configuration, data transfer management based on polling,
interrupt or DMA processes, and communication error management. The HAL Drivers
APIs are split in two categories: generic APIs providing common, generic functions to
all the STM32 series and extension APIs which provide special, customized functions
for a specific family or a specific part number.
Basic peripheral usage examples: this layer houses the examples built around the
STM32 peripherals using the HAL and BSP resources only.
Level 1: This level is divided into two sub-layers:


Middleware components: set of libraries covering USB Host and Device Libraries,
STemWin, FreeRTOS, FatFS, LwIP, and PolarSSL. Horizontal interaction among the
components in this layer is performed directly by calling the feature APIs, while vertical
interaction with low-level drivers is managed by specific callbacks and static macros
implemented in the library system call interface. For example, FatFs implements the
disk I/O driver to access a microSD drive or USB Mass Storage Class.
Examples based on the middleware components: each middleware component comes
with one or more examples (or applications) showing how to use it. Integration
examples that use several middleware components are provided as well.
Level 2: This level is a single layer with a global, real-time and graphical demonstration
based on the middleware service layer, the low level abstraction layer and basic peripheral
usage applications for board-based functions.
3.1.2
Marlin overview
Information regarding the Marlin firmware by RepRap for the control of Arduino-based 3D
printers is described here: http://reprap.org/wiki/Marlin. The code is available on GitHub:
https://github.com/MarlinFirmware/Marlin.
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3.1.3
Firmware
Marlin4ST architecture
Figure 6: Marlin4ST firmware architecture
In accordance with STM32Cube, the Marlin4ST firmware has three main layers:



3.2
Drivers: all the microcontroller and peripherals drivers directly from the STM32Cube
environment.
Middleware: integrates the FatFS from STM32Cube and the Marlin firmware with the
3D printer algorithm (motion control, G-Code parsing, temperature monitoring, etc.)
Application: this layer is the main entry point of the firmware. The setup component
initializes the system, while the infinite loop reacts to the commands that the user sent
from the different interfaces (UART, SD, Wi-Fi).
Firmware folder structure
The Marlin4ST code package can be downloaded from Github:
https://github.com/St3dPrinter/Marlin4ST.
The code packaged in the following main folders:

A Drivers folder with:

the required STM32Cube HAL files, located in the STM32F4xx_HAL_Driver
subfolder. Only the STM32Cube framework HAL files required to run the 3D
printer samples are included.
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


3.2.1
a CMSIS folder with the CMSIS (Cortex® Microcontroller Software Interface
Standard) vendor-independent hardware abstraction layer for the Cortex-M
processor series. This folder is also derived directly from the STM32Cube
framework.

a board support package (BSP) folder with the code files required for the 3D
printer board configuration, the L6474 driver and the motor control API.
A Middleware folder with respective FatFs and Marlin folders.
A Project folder with different IDE projects as well as the main.c/h files.
BSP folders
The 3D printer software uses the board support packages described below.
3.2.1.1
3D printer BSP
This BSP provides the interface to configure and use peripherals: ADC, SD, UART, Wi-Fi,
SPI, etc. In the appropriate folder (stm32_cube/Drivers/BSP/STM32F4xx-3dPrinter), there
are six source/header file pairs.






3.2.1.2
stm32f4xx_3dprinter_adc.c\h: programming of the ADC and the associated DMA
which is used to monitor heaters and bed temperatures with the associated
thermistors.
stm32f4xx_3dprinter_misc.c\h: configuration of the timers, the servo motor if used, the
fans, etc.
stm32f4xx_3dprinter_motor.c\h: configuration of the GPIOs, SPI and PWMs of the
motor drivers
stm32f4xx_3dprinter_sd.c\h: configuration of the SDIO and of the associated DMA
stm32f4xx_3dprinter_uart.c\h: configuration of the UART ports available through the
ST-LINK virtual com port.
stm32f4xx_3dprinter_wifi.c\h: programming of the elements required to control the WiFi module (UART, GPIOs, etc.)
Motor control BSP
This BSP provides a common interface to access the driver functions of various motor
drivers like L6474, L648X, L647X, etc. This is done via the MotorControl/motorcontrol.c/h
file pair, which defines the functions to configure and control the motor driver.
These functions are then mapped to the functions of the motor driver component used on
the given expansion board via the motorDrv_t (defined in Components\Common\motor.h.)
structure file which is written with a list of function pointers during instantiation in the
corresponding motor driver component. For the 3D printer board, the instance is called
l6474Drv (see stm32_cube/Drivers/BSP/Components/l6474/l6474.c file).
As the motor control BSP is common for all motor driver expansion boards, the unavailable
functions for this board are replaced by null pointer during motorDrv_t instantiation in the
driver component.
3.2.1.3
L6474 BSP component
The L6474 BSP component provides the driver functions for the L6474 motor driver in
stm32_cube/Drivers/BSP/Components/l6474.
This folder has 3 files:



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l6474.c: core functions of the L6474 driver
l6474.h: declaration of the L6474 driver functions and corresponding definitions
l6474_target_config.h: predefines for the L6474 parameters and for the motor devices
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Firmware
Middleware folder
The middleware has the following components:


FatFS deriving from the STM32 Cube environment without modification
the Marlin adaptation of the Marlin firmware to the STM32 Cube environment.
The Marlin middleware is designed to minimize deviation from the original Marlin version to
simplify updating to new Marlin versions. The files names are unchanged and only one
“Marlin_export.h” file has been added to:


wrap the low layer access between the Marlin and the Cube HAL (e.g., WRITE and
READ macros).
stub the unsupported or irrelevant Marlin functions in the STM32Cube environment
In the other Marlin middleware files, major changes are flagged under STM_3DPRINT_2.
3.2.3
Project folder
The 3D printer firmware can be built with the following IDEs:


IAR: with project files in stm32_cube\Projects\STM32F4xx-3dPrinter\Marlin\EWARM
OpenSTM32: with project files in Projects\STM32F4xx3dPrinter\Marlin\SW4STM32\Marlin
The project folder also contains the application entry point files and certain configuration
files:









3.3
Inc/ffconf.h: FAT file system configuration file
Inc/main.h: main header file
Inc/stm32f4xx_hal_conf.h: AL configuration file for stm32f4 devices
Inc/stm32f4xx_it.h: header for the interrupt handler for stm32f4 devices
Src/main.c: main program (application entry point)
Src/stm32f4_hal_msp.c: HAL initialization routines for stm32f4 devices
Src/stm32f4xx_it.c: interrupt handler for stm32f4 devices
Src/system_stm32f4xx.c: system initialization for stm32f4 devices
Src/clock_f4.c: clock initialization for stm32f4 devices
Building and loading the firmware
The following sections describe how to build the firmware in the OpenSTM32 and IAR
development environments.
3.3.1
Building the firmware with the OpenSTM32 IDE
OpenSTM32 is based on the Eclipse IDE (refer to Appendix A for OpenSTM32 installation);
the workspace is set to the root of the stm32_cube directory.
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Figure 7: OpenSTM32 – Eclipse IDE main window
3.3.1.1
Import Marlin4ST project
STEP 1: to import the Marlin4ST project, right click in Project Explorer window and select
Import.
Figure 8: OpenSTM32 – selecting import option
STEP 2: a window appears; select General followed by Existing Projects into Workspace.
This opens a new window where you can browse to select the Marlin4ST project in
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ProjectsSTM32F4xx-3dPrinterMarlinSW4STM32Marlin. Select the appropriate project
shown below and click Finish.
Figure 9: OpenSTM32 – selecting project to import
3.3.1.2
Build the binaries
STEP 1: Right click on the project to display the menu.
STEP 2: select Clean Project followed by Build Project to compile your project.
Once compiled, the following files are available in the Debug or Release directory,
according to the type of compilation you have chosen:
1.
2.
Marlin.elf: which can be loaded on the board using the OpenSTM32 tool,
Marlin.bin: which can be loaded through the mass storage interface (simply drag and
drop to disk), as described in Section 5.3.4: "Loading firmware".
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Figure 10: OpenSTM32 – generated binary files
3.3.1.3
Debug project
Before starting debug, ensure that:


your ST 3D printer board has been upgraded with the latest version of ST-LINK V2-1.
You can search for the STSW-LINK007 firmware upgrade tool on www.st.com.
a USB 2.0 port is used to connect your board (a problem has been identified with USB
3.0 and Windows 7.0 and above).
STEP 1: Open the Debug Configurations window, and select Marlin.elf in the Ac6 STM32
Debugging section.
Figure 11: OpenSTM32 – open Debug Configurations
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STEP 2: In the Script section of the Debugger tab, select Manual spec and ensure that:


Debug device is set to ST-LinkV2-1
Debug interface is set to SWD
Figure 12: OpenSTM32 – Debugger configuration
STEP 3: Start the debugging session by clicking the Debug button. Make sure that the
board is connected to your computer via the ST-LINK V2-1 USB connector.
3.3.2
Building the firmware with IAR IDE
The Marlin4ST firmware also provides native support for the IAR Embedded Workbench
IDE (https://www.iar.com/iar-embedded-workbench/).
The project is defined with an IDE version using:


IAR Embedded Workbench for ARM v7.20.2.7431
IAR Embedded Workbench common components v7.1.1.3263
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STEP 1: to start the 3D printer project, simply open a workspace with:
stm32_cube\Projects\STM32F4xx-3dPrinter\Demonstrations\EWARM\Project.eww
Figure 13: IAR IDE main window
STEP 2: build the project via the menu: Project > Rebuild All.
STEP 3: ensure the board is correctly supplied and a USB cable connects the printer board
ST-LINK USB port and the PC and select “Download and Debug” from the menu to start
debugging.
After the build command, you can also directly download
STM32F4xx-3dPrinter\Demonstrations\EWARM\3DPrinter\Exe\Project.bin from the
stm32_cube\Projects directory through the procedure described in Section 5.3.4: "Loading
firmware".
3.3.3
Compilation flags
Whatever the build environment, you must set the following compilation flags to compile the
Marlin4ST firmware:




USE_HAL_DRIVER
STM32F401xE
STM_3DPRINT
MARLIN
By default, these flags are already defined in OpenSTM32 and IAR project so no changes
are required. You can declare the NO_Wi-Fi flag to disable the on-board Wi-Fi.
3.3.4
Loading firmware
The easiest way to load a binary into 3D printer board memory is to use the mass storage
interface provided by the ST-LINK (simply drag and drop to disk), thus:
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1.
2.
3.
4.
3.4
Firmware
Connect the ST 3D printer reference board to a PC with a USB cable through the STLINK USB port. Jumper J22 (boot mode selection) must be set.
Power the 3D printer board via connectors J1 power connector (12/24 V and GND
pins) to a DC power supply; a new drive should appear in your Explorer window.
Copy the binary file to the root of this new drive and refresh your file explorer: if the
binary file has disappeared and no error log file has been generated, the binary file
has been loaded successfully.
Reset the board to run the loaded binary file. To start correctly, the default firmware
requires an SD card with a configuration file (see Section 5.7.1: "Configuration file").
Hardware resource mapping
Motor step clock, dir, reset and flag pins; stops, servo, fans, heaters, beds
and therm pins
The ST 3D printer board pins are defined in
stm32_cube\Middlewares\Third_Party\Marlin\pins.h.
A positive value indicates that the pin is defined, is on the board and can be set or reset by
the Marlin middleware using WRITE and READ macros defined in
stm32_cube\Middlewares\Third_Party\Marlin\Marlin_export.h.
A minus one (-1) value indicates that this pin is either not on the board or not directly used
by the Marlin middleware (it may be used by the BSP drivers).
In stm32_cube\Drivers\BSP\STM32F4xx-3dPrinter\stm32f4xx_3dprinter_misc.c, the arrays
gArrayGpioPort and gArrayGpioPin are declared and initialized with “0” or with
definitions. Each pin defined with a positive value in pins.h is an index in these two arrays
and the definitions corresponding to this index are the port and corresponding pin number,
respectively. These definitions are defined in files, depending of their meanings:



stm32f4xx_3dprinter_motor.h for axis and extrusion motor step clocks, direction, reset
and flag pins
stm32f4xx_3dprinter_misc.h for stops, heaters and servo pins
stm32f4xx_3dprinter_adc.h for thermistor pins
These two arrays have definitions for some indices which do not correspond with positive
value pins defined in pins.h. This is the case for pins that are only used directly by the BSP
drivers.
For example, at index 2 of the gArrayGpioPort array in stm32f4xx_3dprinter_misc.c, the
BSP_MOTOR_CONTROL_BOARD_RESET_X_PIN definition finds no corresponding value of 2
in pins.h as the BSP_MOTOR_CONTROL_BOARD_RESET_X_PIN is only used in
BSP_MotorControlBoard_GpioInit, BSP_MotorControlBoard_ReleaseReset
and BSP_MotorControlBoard_ReleaseReset functions.
SPI pins
The SPI pins used for communication between the microcontroller and the motor driver
circuits are defined in stm32f4xx_3dprinter_motor.h.
A second SPI is available to the user, with the corresponding pins defined in
stm32f4xx_3dprinter_misc.h.
SD card pins
The SD detection pin is defined in stm32f4xx_3dprinter_sd.h. Only one SDIO set of pins is
available on the STM32F401VE.
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Wi-Fi pins
The Wi-Fi pin definitions are in stm32f4xx_3dprinter_wifi.h; they are only used directly by
the BSP Wi-Fi driver.
User available resources
Four GPIOs, one I²C and one SPI are available to the user, with definitions set in
stm32f4xx_3dprinter_misc.h.
3.5
Wi-Fi and web server
3.5.1
Loading the Wi-Fi firmware
The SPWF01SA ST Wi-Fi module is already loaded with firmware version SPWF01S150410-c2e37a3. You can load new firmware over the air (FOTA) with a PC with Wi-Fi
running Windows 7, a web server and a serial port terminal.
FOTA functionality has been tested to work with the following software versions:


Apache server windows install httpd-2.2.25-win32-x86-openssl-0.9.8y.msi
(https://archive.apache.org/dist/httpd/binaries/win32/)
Teraterm 4.73 (https://en.osdn.jp/projects/ttssh2/releases/ )
The SPWF01S-xxxxx-xxxxxxx-RELEASE-main.ota firmware to be loaded to the Wi-Fi
module must be copied into the relevant C:\Program Files\Apache Software
Foundation\Apache2.2\htdocs web server directory for the Apache server.
The SPWF01SA Wi-Fi module allows FOTA via a single HTTP GET and the FWUPDATE
command entered in the serial port terminal.
For a detailed description of this command, find the link to User manual UM1965 in Section
6: "References".
The FWUPDATE command syntax is
AT+S.FWUPDATE=<hostname>,<path>,<port>
Where:



<hostname> is the target host. DNS resolvable name or IP address
<path&queryopts> is the document path and optional query arguments
<port> is the target host port
For example, the command for a computer with Wi-Fi IP address 192.168.0.2 is:
AT+S.FWUPDATE=192.168.0.2,/SPWF01S-150410-c2e37a3-RELEASE-main.ota
The SPWF01SA module validates the firmware image it downloads and loads it into a
staging area; it then requires a reset (enter AT+CFUN=1 in the serial port terminal) to
complete the update process.
3.5.2
Configuring the Wi-Fi module
The 3D printer firmware configures the Wi-Fi module as a mini Access Point with SSID and
wep key defined in stm32_cube\Middlewares\Third_Party\Marlin\configuration.h.
#define Wi-Fi_SSID "3dpserver" //Max of 32 characters
#define Wi-Fi_WEP_KEY "1122334455" //Either 10 or 26 HEX characters (0-9, A-F)
The Wi-Fi module can also be configured manually with AT commands described in the
User manual UM1695 (see Section 6: "References").
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For example, the Wi-Fi module SSID and wep key can be changed during run time (here
SSID is “my3Dap”, wep key is “01234567890123456789012345” and wep key length is
“0D” or 26 hexadecimals):
AT+S.SSIDTXT=my3Dap
AT+S.SCFG=wifi_wep_keys[0],01234567890123456789012345
AT+S.SCFG=wifi_wep_key_lens,0D
The mini AP IP address is 192.168.0.1 by default, but it can be changed; for example:
AT+S.SCFG=ip_ipaddr,192.169.0.100
The Wi-Fi module can also be configured as a station. For instance, the configuration for a
station connection to “AndroidAP” access point using “WPA” network privacy mode and
password “hdpt7892” is:
AT+S.SCFG=wifi_mode,1
AT+S.SCFG=wifi_priv_mode,2
AT+S.SSIDTXT=AndroidAP
AT+S.SCFG=wifi_wpa_psk_text,hdpt7892
3.5.3
Using the web pages
Once the user is connected by Wi-Fi to the 3D printer, by default as a station connected to
3D printer mini Access Point (SSID: 3dpserver, WEP KEY: 1122334455), the user can
access the home web page by entering the 3D printer Wi-Fi IP address in a web browser (it
is redirected to the axisctrl.shtml web page by default). All the web pages can be accessed
by typing <ip address>/<web page name> or by following the links in the left top
corner of any of the following web pages:






axisctrl.shtml (see Figure 14: "axisctrl.shtml web page")
command.shtml (see Figure 15: "command.shtml web page")
heatctrl.shtml (see Figure 16: "heatctrl.shtml web page")
extructrl.shtml (see Figure 17: "extructrl.shtml web page")
filemgt.shtml (see Figure 18: "filemgt.shtml web page")
wifictrl.html (see Figure 19: "wifictrl.html web page")
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Figure 14: axisctrl.shtml web page
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Figure 15: command.shtml web page
Figure 16: heatctrl.shtml web page
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Figure 17: extructrl.shtml web page
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Figure 18: filemgt.shtml web page
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Figure 19: wifictrl.html web page
3.5.4
Customizing the web pages
The web pages presented in the sections above are given as examples and are written in
html 5, javascript and css.
These pages can be modified according to the following principles:





Design small web pages not exceeding 10 kB
Prefer multiple small web pages to one large one
Only flat file systems (no subdirectories) are currently supported
If necessary, minimize the code; you can use one of the following free on-line free
tools:

http://kangax.github.io/html-minifier/

http://cssminifier.com/

http://jscompress.com/
Check that the Wi-Fi module min_heap remains above 6 k

click on Wi-Fi status page link to find this metric or type AT+S.STS=min_heap
using a serial port terminal
The web page code is located in:
stm32_cube\Projects\STM32F4xx-3dPrinter\Applications\www\pages.
To update the Wi-Fi module file system with new web pages, an image file must be created
using the gen.bat batch file in:
stm32_cube\Projects\STM32F4xx-3dPrinter\Applications\www.
Double-click the gen.bat file to create an outfile.img image file in the “pages” subdirectory.
This image file must be copied into an accessible web server to be downloaded by the Wi34/42
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Fi module using the command described further down. refer also to Section 5.5: "Wi-Fi and
web server" for information regarding appropriate web servers.
HTTPDFSUPDATE is used to update the Wi-Fi module file system and change the available
web pages on the http server. This command allows the creation of static files in the Wi-Fi
module external flash memory for delivery by the Wi-Fi module HTTP server. The old file
system is overwritten with the new image file (.img), except for the files in the Wi-Fi module
STM32 internal flash memory.
The command syntax is:
AT+S.HTTPDFSUPDATE=<hostname>,<path>[,port]
Where:
<hostname> is the external web server; DNS resolvable name or IP address
<path> is the path and image file name
<port> is the target host port
The command for a PC with Wi-Fi IP 192.168.0.2 would be:
AT+S.HTTPDFSUPDATE=192.168.0.2,/fsversion01102015_001.img
To list the files in the file system, type AT+S.FSL in your serial port terminal. The first letter
indicates the location in the memory (E=external flash, I=internal flash, D=internal RAM).
3.6
Serial port
3.6.1
Printing via serial port
Printing via serial port is possible with ST-LINK on the 3D printer board. To be recognized
as a virtual com port in Windows, install the following ST-LINK driver:
http://www.st.com/web/en/catalog/tools/PF260218
Once installed, connect a USB cable between your PC and the 3D printer board ST-LINK
COM port. Then, to connect to a serial port terminal, select the virtual com port associated
with ST-LINK with the following settings:








Baud rate: 115200 (or the baud rate which is defined in file
stm32_cube\Middlewares\Third_Party\Marlin\configuration.h if you changed the
default value)
Data: 8 bit
Parity: None
Stop: 1 bit
Flow control: None
Transmit: CR+LF
Receive: CR
Local echo: On
Theoretically, you can print from any serial port terminal provided you use the Marlin GCode commands found here: http://reprap.org/wiki/G-code.
It is, however, easier to use a GUI to automatically send the G-Code for your commands.
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You can, for example, use Pronterface: http://www.pronterface.com/index.html
Figure 20: Main window of Pronterface
To run a print job via UART from Pronterface:
1.
2.
3.
Press Connect
Select the file to print by selecting Load File
Press the Print button
3.7
SD card
3.7.1
Configuration file
The default firmware requires an SD card with a configuration file which is sys/m_cfg.g by
default, but can be changed by editing the configuration.h source file.
3.7.2
Printing from the SD
To print from the SD card, you can also use Pronterface to copy the targeted G-Code file
on the SD card; all you have to do then is:
1.
2.
3.
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Press Connect
Press the SD button
Select the G-Code file on the SD to print
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4
References
References
1.
2.
UM1695Command set reference guide for "AT full stack" for SPWF01Sx series of WiFi modules: available on www.st.com at
http://www.st.com/web/en/catalog/sense_power/FM1968/CL1976/SC1930/PF258591
STSW-IDW002Wi-Fi Training - Hands On: available on www.st.com at
http://www.st.com/web/en/catalog/tools/PF261605
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Revision history
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Revision history
Table 11: Document revision history
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Date
Version
04-May-2016
1
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Initial release.
UM2067
Appendix A
OpenSTM32 installation
OpenSTM32 is a plugin for Eclipse GUI and has been tested on the Kepler and Luna
versions of the same. We refer to the Luna version herein.
STEP 1: The OpenSTM32 multi-platform tool has been tested on Windows and on Linux
OS. To install it, first install Eclipse CDT for Windows or Linux systems from
https://eclipse.org/cdt/ in the Download section.
STEP 2: Once uncompressed, add the Eclipse binary location in your PATH under Linux or
create a shortcut to the Eclipse application (eclipse.exe in Windows or eclipse in Linux).
STEP 3: If you use a proxy server, you must modify the Eclipse network configuration:
1.
2.
3.
Open the Window > Preferences menu
In General > Network Connections, select manual configuration and enter your proxy
address and port for http and https. Enter a user name and password if requested by
your proxy.
Apply the changes and press ok.
Figure 21: Network configuration in Eclipse
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STEP 4: To install the OpenSTM32 System Workbench plugin by ac6 in your version of
Eclipse, select the Help > Install New Software menu item
Figure 22: Eclipse – available software selection
STEP 5: Click on the “Available Software Sites” link and enter the following information:


Name: OpenSTM32
Location: http://www.ac6-tools.com/Eclipse-updates/org.openstm32.systemworkbench.site
Figure 23: Eclipse – OpenSTM32 site information
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STEP 6: Select OpenSTM32 from the “Work with” list, check the “External Tools” and
“OpenSTM32 Tools” option boxes and click on the Next button.
Figure 24: OpenSTM32 AC6 tools installation
This completes the OpenSTM32 System Workbench plugin installation.
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improvements to ST products and/or to this document at any time without notice. Purchasers should obtain the latest relevant information on ST
products before placing orders. ST products are sold pursuant to ST’s terms and conditions of sale in place at the time of order
acknowledgement.
Purchasers are solely responsible for the choice, selection, and use of ST products and ST assumes no liability for application assistance or the
design of Purchasers’ products.
No license, express or implied, to any intellectual property right is granted by ST herein.
Resale of ST products with provisions different from the information set forth herein shall void any warranty granted by ST for such product.
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Information in this document supersedes and replaces information previously supplied in any prior versions of this document.
© 2016 STMicroelectronics – All rights reserved
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