KTFRDM17533EVUG, FRDM-17533EP-EVB Evaluation board - User s Guide

Freescale Semiconductor
User’s Guide
Document Number: KTFRDM17533EVUG
Rev. 2.0, 9/2015
FRDM-17533EV-EVB Evaluation Board
Figure 1. FRDM-17533EV-EVB
© Freescale Semiconductor, Inc., 2015. All rights reserved.
Table of Contents
1 Important Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3 Getting to Know the Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4 FRDM-KL25Z Freedom Development Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
5 Installing the Software and Setting up the Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
6 Installing the Processor Expert Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
7 Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
8 Silkscreen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
9 Bill of Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
10 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
11 Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
KTFRDM17533EVUG, Rev. 2.0
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Freescale Semiconductor, Inc.
Important Notice
1
Important Notice
Freescale provides the enclosed product(s) under the following conditions:
This evaluation kit is intended for use of ENGINEERING DEVELOPMENT OR EVALUATION PURPOSES
ONLY. It is provided as a sample IC pre-soldered to a printed circuit board to make it easier to access inputs,
outputs, and supply terminals. This evaluation kit may be used with any development system or other source
of I/O signals by simply connecting it to the host MCU or computer board via off-the-shelf cables. Final device
in an application will be heavily dependent on proper printed circuit board layout and heat sinking design as
well as attention to supply filtering, transient suppression, and I/O signal quality.
The goods provided may not be complete in terms of required design, marketing, and or manufacturing related
protective considerations, including product safety measures typically found in the end product incorporating
the goods. Due to the open construction of the product, it is the user's responsibility to take any and all
appropriate precautions with regard to electrostatic discharge. In order to minimize risks associated with the
customers applications, adequate design and operating safeguards must be provided by the customer to
minimize inherent or procedural hazards. For any safety concerns, contact Freescale sales and technical
support services.
Should this evaluation kit not meet the specifications indicated in the kit, it may be returned within 30 days from
the date of delivery and will be replaced by a new kit.
Freescale reserves the right to make changes without further notice to any products herein. Freescale makes
no warranty, representation or guarantee regarding the suitability of its products for any particular purpose, nor
does Freescale assume any liability arising out of the application or use of any product or circuit, and
specifically disclaims any and all liability, including without limitation consequential or incidental damages.
“Typical” parameters can and do vary in different applications and actual performance may vary over time. All
operating parameters, including “Typical”, must be validated for each customer application by customer’s
technical experts.
Freescale does not convey any license under its patent rights nor the rights of others. Freescale products are
not designed, intended, or authorized for use as components in systems intended for surgical implant into the
body, or other applications intended to support or sustain life, or for any other application in which the failure
of the Freescale product could create a situation where personal injury or death may occur.
Should the Buyer purchase or use Freescale products for any such unintended or unauthorized application,
the Buyer shall indemnify and hold Freescale and its officers, employees, subsidiaries, affiliates, and
distributors harmless against all claims, costs, damages, and expenses, and reasonable attorney fees arising
out of, directly or indirectly, any claim of personal injury or death associated with such unintended or
unauthorized use, even if such claim alleges that Freescale was negligent regarding the design or manufacture
of the part. Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other
product or service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2015
KTFRDM17533EVUG, Rev. 2.0
Freescale Semiconductor
3
Getting Started
2
2.1
Getting Started
Kit Contents/Packing List
The FRDM-17533EV-EVB contents include:
• Assembled and tested evaluation board/module in an anti-static bag
• Quick Start Guide, Analog Tools
• Warranty card
2.2
Jump Start
Freescale’s analog product development boards help to easily evaluate Freescale products. These tools support analog mixed signal and
power solutions including monolithic ICs using proven high-volume SMARTMOS mixed signal technology, and system-in-package devices
utilizing power, SMARTMOS and MCU dies. Freescale products enable longer battery life, smaller form factor, component count reduction,
ease of design, lower system cost and improved performance in powering state of the art systems.
• Go to www.freescale.com/FRDM-17533EV-EVB
• Review your Tool Summary Page
• Look for
• Download documents, software, and other information
Once the files are downloaded, review the user guide in the bundle. The user guide includes setup instructions, BOM and schematics.
Jump start bundles are available on each tool summary page with the most relevant and current information. The information includes
everything needed for design.
2.3
Required Equipment and Software
To use this kit, you need:
• DC Power supply (2.0 V to 6.8 V, 0.1 A to 0.7 A, depending on stepper motor requirements)
• USB A to mini-B cable
• Oscilloscope (preferably 4-channel) with current probe(s)
• Digital multimeter
• FRDM-KL25Z Freedom Development Platform
• Typical loads (stepper motor, brushed DC motors, or power resistors)
• 3/16" blade screwdriver
• One 12-pin (PPTC062LFBN-RC), two 16-pin (PPTC082LFBN-RC), and one 20-pin (PPTC102LFBN-RC) female
connector, by Sullins Connector Solutions, or equivalent soldered to FRDM-KL25Z
2.4
System Requirements
The kit requires the following:
• USB-enabled PC with Windows® XP or higher
KTFRDM17533EVUG, Rev. 2.0
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Freescale Semiconductor, Inc.
Getting to Know the Hardware
3
Getting to Know the Hardware
3.1
Board Overview
The FRDM-17533EV-EVB evaluation board features the MPC17533EV dual H-Bridge IC, which features the ability to drive either a single
two phase stepper motor or two brushed DC motors. The MPC17533EV incorporates internal control logic, a charge pump, gate drive,
and high current, low RDS(on) MOSFET output circuitry.
3.2
Board Features
The FRDM-17533EV-EVB evaluation board is designed to easily evaluate and test the main component, the MPC17533EV. The board's
main features are as follows:
• Compatible with Freedom series evaluation boards such as FRDM-KL25Z
• Built in fuse for both part and load protection
• Screw terminals to provide easy connection of power and loads
• Test points to allow probing of signals
• Built in voltage regulator to supply logic level circuitry
• LED to indicate status of Logic power supply of the evaluation board, as well as a general purpose indicator
3.3
FRDM-KL25Z Features
The FRDM-KL25Z board features are as follows:
• MKL25Z128VLK4 MCU - 48 MHz, 128 KB Flash, 16 KB SRAM, USB OTG (FS), 80LQFP
• Capacitive touch slider, MMA8451Q accelerometer, Tri-color LED
• Flexible power supply options - USB, coin cell battery, external source
• Easy access to MCU I/O
• Battery-ready, power-measurement access points
• Form factor compatible with Arduino™ R3 pin layout
• New, OpenSDA debug interface
• Mass storage device flash programming interface (default) - no tool installation required to evaluate demonstration
applications
• P&E Debug interface provides run-control debugging and compatibility with IDE tools
• CMSIS-DAP interface: new ARM standard for embedded debug interface
Additional reference documents are available on freescale.com/FRDM-KL25Z.
3.4
Device Features
This evaluation board features the following Freescale product:
Table 1. Device Features
Device
MPC17533EV
Description
Features
The MPC17533EV is a dual H-Bridge
motor driver IC intended for operating
stepper motors
•
•
•
•
•
•
•
Voltage range of operation from 2.0 V to 6.8 V
Output Current of 0.7 A (DC) continuous, 1.4 A peak
700 mΩ RDS(on) H-Bridge MOSFET outputs
3.3/5.0 V TTL/CMOS compatible inputs
PWM frequencies up to 200 kHz
Undervoltage shutdown
Cross conduction (shoot through) suppression
KTFRDM17533EVUG, Rev. 2.0
Freescale Semiconductor
5
Getting to Know the Hardware
3.5
Board Description
This evaluation board consists mainly of an MPC17533EV. The following sections describe the additional hardware used to support the
dual H-Bridge driver.
Protection Fuse
CONNECT PHASE 1
OF STEPPER TO
THESE TERMINALS
OUT1A
CONNECT PHASE 2
OF STEPPER TO
THESE TERMINALS
OUT2A
LED output MPC17533EV
OUT1B
OUT2B
Gate Drive Power Supply Input
Power Supply Input
Ground
Not Used
Not Used
Ground
Figure 2. Board Description
Table 2. Board Description
Name
U1
Description
MPC17533EV H-Bridge motor drive IC
F1
Overcurrent protection fuse
D4
User defined LED output
OUT1A
Output 1A Connect motor phase 1 lead to this terminal
OUT1B
Output 1B Connect motor phase 1 lead to this terminal
OUT2A
Output 2A Connect motor phase 2 lead to this terminal
OUT2B
Output 2B Connect motor phase 2 lead to this terminal
CRES
Gate Drive Power Supply Input
VM
Power supply input
GND
Ground terminal
SNS
Not used – connection to FRDM-KL25Z input
ANL
Not used – connection to FRDM-KL25Z input
GND
Ground terminal
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Freescale Semiconductor, Inc.
Getting to Know the Hardware
3.6
LED Display
An LED is provided as a visual output device for the FRDM-17533EV-EVB evaluation board:
Table 3. Board Description
3.7
Name
Description
LED1 (D4 board designator)
Illuminated with an output from the FRDM-KL25Z. Note the on board voltage regulator must
be operating for the LED to operate
Test Point Definitions
The following test-points provide access to signals on the FRDM-17533EV-EVB. These signals are:
Table 4. Test Point Definitions
3.8
TP#
Signal Name
Description
TP1
GND
TP2
OUT2A
H-Bridge 2 Output A
TP3
OUT2B
H-Bridge 2 Output B
TP4
OUT1A
H-Bridge 1 Output A
TP5
IN1A
H-Bridge 1 Input A
TP6
IN1B
H-Bridge 1 Input B
Ground
TP7
OE
TP8
READY
Logic signal from microcontroller. This signal causes the green LED to operate
Output Enable pin
TP9
SNSIN
Not used
TP10
ANLIN
Not used
TP11
VDDPWRGOOD
TP12
IN2A
Signal to the microcontroller indicating the voltage regulator is operating (3.3 V)
H-Bridge 2 Input A
TP13
IN2B
H-Bridge 2 Input B
TP14
OUT1B
TP15
VDD
H-Bridge 1 Output B
Logic power supply from the voltage regulator on the evaluation board
Input Signal Definitions
The MPC17533EV IC has five input signals that are used to control certain outputs or functions inside the circuit. These signals are:
Table 5. Input Signal Definitions
Name
Description
IN1A
Controls OUT1A
IN1B
Controls OUT1B
IN2A
Controls OUT2A
IN2B
Controls OUT2B
EN
Enables Outputs 1A, 1B and Outputs 2A, 2B
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Freescale Semiconductor
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Getting to Know the Hardware
3.9
Output Signal Definitions
The MPC17533EV IC has four output signals used to drive a 2 phased stepper motor. These signals are:
Table 6. Output Signal Definitions
Name
Description
OUT1A
Output A of H-Bridge 1
OUT1B
Output B of H-Bridge 1
OUT2A
Output A of H-Bridge 2
OUT2B
Output B of H-Bridge 2
3.10 Screw Terminal Connections
There are four connectors on the FRDM-17533EV-EVB which provide connections to the following signals:
Table 7: Screw Terminal Connections
Name
J5
J6
Signal
OUT1A
H-Bridge 1 output A
OUT1B
H-Bridge 1 output B
CRES
Voltage input for H-Bridge gate drive
VM
GND
J7
J8
Signal Description
Motor supply input (this is also the supply for the on board voltage regulator)
This is the primary ground connection for the motor power supply
OUT2A
H-Bridge 2 output A
OUT2B
H-Bridge 2 output B
SNS
Not used
ANL
Not used
GND
Additional ground
3.11 Jumper J9
The FRDM-17533EV-EVB has provision (not populated) for a jumper to accommodate higher currents than the on board fuse is capable
of handling (1.25 A). If the fuse is bypassed, use extreme care to make sure the maximum current for the MPC17533EV is not exceeded
(0.7 A continuous, 1.4 A peak/transients).
KTFRDM17533EVUG, Rev. 2.0
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Freescale Semiconductor, Inc.
FRDM-KL25Z Freedom Development Platform
4
FRDM-KL25Z Freedom Development Platform
The Freescale Freedom development platform is a set of software and hardware tools for evaluation and development. It is ideal for rapid
prototyping of microcontroller-based applications. The Freescale Freedom KL25Z hardware, FRDM-KL25Z, is a simple, yet sophisticated
design featuring a Kinetis L Series microcontroller, the industry's first microcontroller built on the ARM® Cortex™-M0+ core.
4.1
Connecting FRDM-KL25Z to the Board
The FRDM-17533EV-EVB kit may be used with many of the Freedom platform evaluation boards featuring Kinetis processors. The
FRDM-KL25Z evaluation board has been chosen specifically to work with the FRDM-17533EV-EVB kit because of its low cost and
features. The FRDM-KL25Z board makes use of the USB, built in LEDs, and I/O ports available with Freescale’s Kinetis KL2x family of
microcontrollers. The main functions provided by the FRDM-KL25Z are to allow control of a stepper motor using a PC computer over USB,
and to drive the necessary inputs on the FRDM-17533EV-EVB evaluation kit to operate the motor.
The FRDM-17533EV-EVB is connected to the FRDM-KL25Z using four dual row headers. The connections are as follows:
Table 8: FRDM-17533EV-EVB to FRDM-KL25Z Connections
FRDM-17533EV-EVB
FRDM-KL25Z
PIn Hardware Name
Description
Header
Pin
Header
Pin
FRDM-17533EV-EVB
FRDM-KL25Z
J1
1
J9
1
RUNPWRGD
PTB8
Regulator voltage present
J1
2
J9
2
N/C
SDA_PTD5
No connection
J1
3
J9
3
GND
PTB9
System ground
J1
4
J9
4
N/C
P3V3
No connection
J1
5
J9
5
GND
PTB10
System ground
J1
6
J9
6
N/C
RESET/PTA20
No connection
J1
7
J9
7
GND
PTB11
System ground
J1
8
J9
8
N/C
P3V3
No connection
J1
9
J9
9
N/C
PTE2
No connection
J1
10
J9
10
N/C
P5V_USB
No connection
J1
11
J9
11
N/C
PTE3
No connection
J1
12
J9
12
GND
GND
System ground
J1
13
J9
13
N/C
PTE4
No connection
J1
14
J9
14
N/C
GND
No connection
J1
15
J9
15
N/C
PTE5
No connection
J1
16
J9
16
N/C
P5-9V_VIN
No connection
J2
1
J1
1
OE
PTC7
Enable
J2
2
J1
2
N/C
PTA1
No connection
J2
3
J1
3
N/C
PTC0
No connection
J2
4
J1
4
N/C
PTD4
No connection
J2
5
J1
5
N/C
PTC3
No connection
J2
6
J1
6
IN1A
PTD4
Input 1A
J2
7
J1
7
N/C
PTC4
No connection
J2
8
J1
8
IN1B
PTA12
Input 1B
J2
9
J1
9
READY
PTC5
No connection green LED (from KL25Z)
J2
10
J1
10
IN2A
PTA4
Input 2A
J2
11
J1
11
SNSIN
PTC6
Not used
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Freescale Semiconductor
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FRDM-KL25Z Freedom Development Platform
Table 8: FRDM-17533EV-EVB to FRDM-KL25Z Connections (continued)
FRDM-17533EV-EVB
FRDM-KL25Z
PIn Hardware Name
Description
Header
Pin
Header
Pin
FRDM-17533EV-EVB
FRDM-KL25Z
J2
12
J1
12
IN2B
PTA5
Input 2B
J2
13
J1
13
N/C
PTC10
No connection
J2
14
J1
14
N/C
PTC8
No connection
J2
15
J1
15
N/C
PTC11
No connection
J2
16
J1
16
N/C
PTC9
No connection
J3
1
J2
1
N/C
PTC12
No connection
J3
2
J2
2
N/C
PTA13
No connection
J3
3
J2
3
N/C
PTC13
No connection
J3
4
J2
4
N/C
PTD5
No connection
J3
5
J2
5
N/C
PTC16
No connection
J3
6
J2
6
N/C
PTD0
No connection
J3
7
J2
7
N/C
PTC17
No connection
J3
8
J2
8
N/C
PTD2
No connection
J3
9
J2
9
N/C
PTA16
No connection
J3
10
J2
10
N/C
PTD3
No connection
J3
11
J2
11
N/C
PTA17
No connection
J3
12
J2
12
N/C
PTD1
No connection
J3
13
J2
13
N/C
PTE31
No connection
J3
14
J2
14
N/C
GND
No connection
J3
15
J2
15
N/C
N/C
No connection
J3
16
J2
16
N/C
VREFH
No connection
J3
17
J2
17
N/C
PTD6
No connection
J3
18
J2
18
N/C
PTE0
No connection
J3
19
J2
19
N/C
PTD7
No connection
J3
20
J2
20
N/C
PTE1
No connection
J4
1
J10
1
N/C
PTE20
No connection
J4
2
J10
2
N/C
PTB0
No connection
J4
3
J10
3
N/C
PTE21
No connection
J4
4
J10
4
N/C
PTB1
No connection
J4
5
J10
5
N/C
PTE22
No connection
J4
6
J10
6
N/C
PTB2
No connection
J4
7
J10
7
N/C
PTE23
No connection
J4
8
J10
8
N/C
PTB3
No connection
J4
9
J10
9
N/C
PTE29
No connection
J4
10
J10
10
ANLIN
PTC2
Not used
J4
11
J10
11
N/C
PTE30
No connection
J4
12
J10
12
N/C
PTC1
No connection
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Installing the Software and Setting up the Hardware
5
5.1
Installing the Software and Setting up the Hardware
Installing the Motor Control Graphical User Interface (GUI) on your
Computer
The latest version of the Motor Control GUI is designed to run on any Windows 8, Windows 7, Vista or XP-based operating system. To
install the software, go to www.freescale.com/analogtools and select your kit. Click on that link to open the corresponding Tool Summary
Page. Look for "Jump Start Your Design". Download to your computer desktop the Motor Control GUI software.
Run the installed program from the desktop. The Installation Wizard will guide you through the rest of the process.
To use the Motor Control GUI, go to the Windows Start menu, then Programs, then Motor Control GUI, and click on the Freescale icon.
The Motor Control Graphic User Interface (GUI) will appear. The GUI is shown in Table 3. The hex address numbers at the top are loaded
with the vendor ID for Freescale (0x15A2), and the part ID (0x138). The left side panel displays these numbers only if the PC is
communicating with the FRDM-KL25Z via the USB interface.
Figure 3. Motor Control GUI
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Installing the Software and Setting up the Hardware
5.2
Configuring the Hardware
Table 4 shows the configuration diagram for FRDM-17533EV-EVB.
Computer
Use this USB Port
USB Cable
FRDM-KL25Z
Mounted on Top
Stepper Motor
DC Power Supply 1
FRDM-17533-EVB
DC Power Supply 2
Figure 4. FRDM-17533EV-EVB Plus FRDM-KL25Z Board Setup
5.2.1
Step-by-step Instructions for Setting Up the Hardware Using Motor
Control GUI
When using the FRDM-17533EV-EVB make sure that the following operating parameters are followed or damage may occur.
• The maximum motor supply voltage (VM) cannot exceed 6.8 V, and must be at least 3.3 V
•
The nominal operating current of the stepper motor cannot exceed 0.7 A (1.4 A peak)
In order to perform the demonstration example, first set up the evaluation board hardware and software as follows:
1. Setup the FRDM-KL25Z to accept code from the mbed online compiler. mbed is a developer site for ARM based microcontrollers.
The instructions are at mbed.org (mbed.org/handbook/mbed-FRDM-KL25Z-Upgrade) (you will need to switch to the other USB
port on the FRDM-KL25Z, and back after you load the project).
2. Go to the Freescale page on mbed.org and look for the repository named "LVHB DC Motor Drive".
(developer.mbed.org/teams/Freescale/code/LVHB-Stepper-Motor-Drive/) Save the compiled code on your local drive, and then
drag and drop it onto the mbed drive (which is the FRDM-KL25Z). Move the USB connector back to the other USB port on the
FRDM-KL25Z.
Note: You may be asked to create a user before you can download the code.
3. Connect the FRDM-17533EV-EVB to the FRDM-KL25Z. This is best accomplished by soldering the female connectors to the
FRDM-KL25Z, and then connecting to the male pins provided on the FRDM-17533EV-EVB.
4. Ready the computer, install the Stepper Motor Driver GUI Software (See Section 5.1).
5. Attach DC power supplies (without turning on the power) to the VM, CRES and GND terminals.
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Installing the Software and Setting up the Hardware
6. Attach one set of coils of the stepper motor to the OUT 1A and OUT 1B output terminals. Attach the other phase coil of the
stepper motor to terminals OUT2A and OUT2B. Launch the Stepper Motor Driver GUI Software.
7. Make sure the GUI recognizes the FRDM-KL25Z. This is determined by seeing the hex Vendor ID (0x15A2), and Part ID (0x138)
under USB connection in the upper left hand corner of the GUI. If the GUI does not recognize the FRDM-KL25Z, you need to
disconnect and reconnect the USB cable to the FRDM-KL25Z.
8. Turn on the DC power supply.
9. Click on the Enable Target checkbox on the GUI. The demo is now ready to run.
10. Click the Run button to run the motor. Notice that some options of the GUI are disabled while the motor is running. To make
changes, click the Stop button on the GUI, make the desired changes, and then click Run on the GUI to continue.
11. When finished, click Enable Target button on the GUI, and then Quit. Turn off DC power supply. Remove USB cable.
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6.1
Installing CodeWarrior on your Computer
This procedure explains how to obtain and install the latest version of CodeWarrior (version 10.6 in this guide).
NOTE
The sample software in this kit requires CodeWarrior 10.6 or newer. The component and some
examples in the component package are intended for Kinetis Design Studio 3.0.0. If you have
CodeWarrior 10.6 and Kinetis Design Studio 3.0.0 already installed on your system, skip this section.
1. Obtain the latest CodeWarrior installer file from the Freescale CodeWarrior website here:
www.freescale.com/webapp/sps/site/homepage.jsp?code=CW_HOME&tid=vanCODEWARRIOR.
2. Run the executable file and follow the instructions.
3. In the Choose Components window, select the Kinetis component and click on Next to complete the installation.
n Check K i n eti s
Figure 5. Select Components GUI
6.2
Downloading the LVHBridge Component and Example Projects
The examples used in this section are based on a pre-configured CodeWarrior project. You must first download the project and its
associated components:
1. Go to the Freescale website www.freescale.com/LVHBRIDGE-PEXPERT
2. Download example projects and H-Bridge component zip file.
3. Unzip the downloaded file and check that the folder contains the files listed in Table 9.
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Table 9: LVHBridge Example Project and Components
Folder Name
CodeWarrior_Examples
Folder Contents
Example project folder for CodeWarrior.
LVH_KL25Z_brush_MC34933
Example project for DC brush motor control using FRDM-34933EP-EVB H-Bridge board and
FRDM-KL25Z MCU board
LVH_KL25Z_brush_MPC17510
Example project for DC brush motor control using FRDM-17510EJ-EVB H-Bridge board and
FRDM-KL25Z MCU board
LVH_KL25Z_stepper
Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and
FRDM-KL25Z MCU board
LVH_KL25Z_stepper_ramp
Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and
FRDM-KL25Z MCU board. Acceleration ramp is enabled
Component
Processor Expert component folder
KDS_Examples
Example project folder for Kinetis Design Studio 3.0.0 or newer.
LVH_K20D50M_brush_MC34933
Example project for DC brush motor control using FRDM-34933EP-EVB H-Bridge board and
FRDM-K20D50M MCU board
LVH_K20D50M_brush_MPC17510
Example project for DC brush motor control using FRDM-17510EJ-EVB H-Bridge board and FRDMK20D50M MCU board
LVH_K20D50M_stepper_bitIO
Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and
FRDM- K20D50M MCU board
LVH_K20D50M_stepper_ramp_bitIO
Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and
FRDM- K20D50M MCU board. Acceleration ramp is enabled
LVH_KL25Z_brush_MC34933
Example project for DC brush motor control using FRDM-34933EP-EVB H-Bridge board and
FRDM-KL25Z MCU board
LVH_KL25Z_brush_MPC17510
Example project for DC brush motor control using FRDM-17510EJ-EVB H-Bridge board and
FRDM-KL25Z MCU board
LVH_KL25Z_brush_FreeMASTER
Example project intended to control DC brush motor using FreeMASTER tool. Latest Freemaster
installation package: http://www.freescale.com/freemaster
LVH_KL25Z_step_FreeMASTER
Example project intended to control stepper motor using FreeMASTER tool
LVH_KL25Z_stepper
Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and
FRDM-KL25Z MCU board
LVH_KL25Z_stepper_ramp
Example project intended to control stepper motor using MC34933 H-Bridge freedom board and
FRDM-KL25Z MCU board. Acceleration ramp is enabled
LVH_KL26Z_stepper
Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and
FRDM-KL26Z MCU board
LVH_KL26Z_stepper_iar
Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and
FRDM-KL26Z MCU board. IAR compiler is used instead of GNU C compiler
6.2.1
Import the LVHBridge Component into Processor Expert Library
1. Launch CodeWarrior by clicking on the CodeWarrior icon (located on your desktop or in Program Files -> Freescale Codewarrior
folder.) When the CodeWarrior IDE opens, go to the menu bar and click Processor Expert -> Import Component(s).
2. In the pop-up window, locate the component file (.PEupd) in the example project folder LVHBridge_PEx_SW\Component. Select
LVHBridge_b1508.PEupd and ChannelAllocator_b1508.PEupd files then click Open (see Figure 6).
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n C lic k
o Select
Processor Expert
Import Component(s)
pS e l e c t a l l
.P E u p d
components
qC lick Open
Figure 6. Import LVHBridge Component
3. If the import is successful, the LVHBridge component appears in Components Library -> SW -> User Component (see Figure 7).
Note that the component ChannelAllocator is not visible, because it is not designed to be users accessible.
Figure 7. LVHBridge Component Location after CodeWarrior Import
The LVHBridge component is ready to use.
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6.2.2
Import an Example Project into CodeWarrior
The following steps show how to import an example from the downloaded zip file into CodeWarrior.
1. In the CodeWarrior menu bar, click File -> Import… In the pop-up window, select General -> Existing Projects into Workspace
and click Next.
2. Locate the example in folder: LVHBridge_PEx_SW\CodeWarrior_Examples (see Figure 8, which shows
LVH_KL25Z_brush_MC34933 as the imported project). Then click Finish.
The project is now in the CodeWarrior workspace where you can build and run it.
Figure 8. Example Project Import
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6.3
Create a New Project with Processor Expert and LVHBridge Component
If you choose not to use the example project, the following instructions describe how to create and setup a new project that uses the
LVHBridge component. If you do not have the LVHBridge component in the Processor Expert Library, please follow steps in Section 6.2.1.
1. Create and name an MCU Bareboard project (see Figure 9).
Figure 9. Create an MCU Bare-board Project
2. Choose the MCU class to be used in the freedom MCU board (MKL25Z128 in this example). Then select the connections to be
used (see Figure 10).
Figure 10. Select the MCU Class and Connections
3. Select the Processor Expert option, and then click Finish (see Figure 11).
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Figure 11. Select the Processor Expert Option
6.3.1
Add LVHBridge Component into the Project
1. Find LVHBridge in the Components Library and add it into your project (see Figure 12).
Figure 12. Add the LVHBridge Component to the Project
2. Double click LVHBridge component in the Components window (see Figure 13) to show the configuration in the Component
Inspector view.
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Figure 13. Select the Component
Figure 14. Component Inspector View
6.3.2
General Settings of LVHBridge Component
Component settings in the Component Inspector view have a tree structure. H-Bridge Model is on top of the tree.
ActiveMode defines the H-Bridge device operational mode (normal or power-conserving sleep mode), which is controlled by the enabling
pin. Selection of the enabling pin is in the Enable Pins group. For more information, see your H-Bridge model’s data sheet. The mode can
be changed later using the C code method SetMode.
The Motor Control group involves timer settings, H-Bridge device and motor control settings. The Timer Settings group contains the
Primary Timer Component property (the name of a linked TimerUnit_LDD component) and the name of the hardware timer being used
(defined in the Primary Timer Device property). Secondary Timer encompasses the properties of an additional timer.
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Note that the Secondary Timer Component property must use a different TimerUnit_LDD component than the Primary Timer
Component property. The purpose of the primary and secondary timers is to allow the input control pins of an H-Bridge device to be
connected to different timers (this applies for some freedom H-Bridge boards and freedom MCUs). But these timers must be synchronized
to control a stepper motor. So the primary timer is designed to be the source for the global time base and the secondary timer is
synchronized with the primary timer. Please see your MCU’s data sheet to find out which timer provides the global time base (GTB) and
set the Primary Timer Device property accordingly. An example of a timer selection using the FRDM-KL25Z MCU is shown in Figure 15.
If you are using a single timer, set the Secondary Timer Component to Disabled.
Figure 15. Selection of a FRDM-KL25Z MCU Primary and a Secondary Timer Device
H-Bridge 1 MCU Interface and H-Bridge 2 MCU Interface allow you to set H-Bridge control function. The H-Bridge 2 MCU Interface is
shown only for dual H-Bridge models (for example MC34933). The DC Brush group is described in Section 6.3.3. The Input Control Pins
allow you to select the H-Bridge input control pins that utilize the timer's channels or GPIO pins.
Figure 16. LVHBridge Component — General Settings
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6.3.3
Setting up a Project to Control a DC Brushed Motor
1. Select the H-Bridge model you want to configure and set the Motor Control property to Brushed.
Figure 17. Setup of the Component to Control a Brush Motor
2. Set the Control Mode property. There are two ways to control the DC brushed motor:
a) Speed Control - motor speed is controlled by your settings. The TimerUnit_LDD component is used to generate the PWM
signal. The PWM Frequency property is visible in this mode only. If you set the Speed Control mode on both interfaces (i.e.
Interface 1 and Interface 2), the PWM Frequency property on Interface 2 will be set automatically to the same value as
Interface 1 (because Interface 2 uses the same timer.)
b) State Control - motor is controlled by GPIO pins (BitIO_LDD components). This means you can switch the motor on or off
without speed adjustments. The advantage of this mode is that you do not need timer channels. If you set State Control on
both interfaces or you have only a single H-Bridge model (one interface) with State Control, the TimerUnit_LDD component
is not required anymore by the LVHBridge component and you can remove it from the project.
3. Set the PWM Frequency.
4. Set the Direction Control property. The Direction Control property determines what direction the motor is allowed to move in.
Setting the property to Forward restricts the motor's movement to the forward direction only. Setting the property to Reverse
restricts movement to the reverse direction only. A Bidirectional setting allows the motor to move in either direction. The
Bidirectional mode requires two timer channels. Forward or Reverse requires only one timer channel and one GPIO port. This
setting is available only when Speed Control mode is set in the Control Mode property.
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6.3.4
Setting up a Project to Control a Stepper Motor
Select the dual H-Bridge model you want to configure and set Stepper in the Motor Control property. Note that the dual H-Bridge model
is required, because a two phase bipolar stepper motor has four inputs.
Figure 18. Component Settings to Control a Stepper Motor
In the Stepper Motor group, set the properties that apply to your environment.
• The Output Control property defines the control method.
a)
With PWM selected the component utilizes four channels of a timer to control the stepper motor. Signal is generated in
hardware and micro-step mode is also available.
b) In GPIO mode, GPIO pins are used instead of timer channels and only full-step mode is available (no micro-step mode).
• Manual Timer setting property is only visible when you switch the visibility of the component properties to Advanced (see later). It is
designed to change the Counter frequency of the linked TimerUnit_LDD component. By default the Counter frequency is set
automatically by LVHBridge component. In some cases the frequency value does not have to be set appropriately (user wants to set
a different value or there an error has occurred). For more information see Section 6.3.5.
• Motor Control Mode allows you to select the Step Mode. Selecting Full-step and Micro-step mode allows you to switch between
full-stepping and micro-stepping in C code.
a)
Full-step Configuration contains speed and acceleration settings. Code for the acceleration and deceleration ramp is
generated when the Acceleration property is set to a value greater than zero. Note that acceleration is always the same as
deceleration. An example of an acceleration ramp is depicted in Figure 19. The acceleration setting is 400, as shown in
Figure 18.
•
Desired motor speed is set to 100 full-steps per second. This value is defined by the Speed property in Processor
Expert GUI and can be changed in C code.
•
Acceleration and deceleration is set to 400 full-steps per second2. This value is defined by the Acceleration
property. Note that the motor reaches the speed in 0.25 second (desired_speed / acceleration = 100 / 400 = 0.25).
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Figure 19. Acceleration and Deceleration Ramp
b)
6.3.5
Micro-step Configuration settings are similar to those of the Full-step Configuration. PWM Frequency is the frequency of
the micro-step PWM signal. Micro-step per Step is the number of micro-steps per one full-step.
Stepper Motor Speed
This component defines the stepper motor’s minimum and maximum speed. These limit values are used by the component methods.
Minimum speed in full-step and micro-step modes is one step per second. Maximum speed is 5000 steps per second. There is a specific
case when minimum full-step speed is affected by timer input frequency. This applies only when you are using one FTM timer to control
stepper motor. It means that the Primary Timer Device property must use FTM timer values (FTM0_CNT, or FTM1_CNT, etc.). The
Secondary Timer property must be set to Disabled. The Stepper Motor Output Control property must be set to PWM. Figure 20
illustrates this configuration.
Figure 20. Stepper Mode Configuration that Affects Minimum Full-stepping Speed
Possible values for the timer input frequency (Counter frequency property in TimerUnit_LDD) are in Table 10. Input frequency values
depend on LVHBridge component settings. Note that two frequency values are needed in "Full-step and Micro-step mode" in one case
(LVHBridge component switches in runtime between these two values).
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Table 10: Minimum and Maximum Timer Input Frequency per Stepper Control Mode
LVHBridge component properties
Mode
Description
Timer Device
Full-step mode
TPM
Don't care
PWM
Full-step and
Micro-step
mode
TPM
Don't care
Full-step mode
(SW control)
FTM or TPM
Full-step mode
Full-step mode
Secondary Output Motor Control
Timer
Control
Mode
Secondary Timer
Input Frequency
Values
Min
Max
Full-step
1
131 kHz
1 MHz
Any value (user
selection)
PWM
Full-step and
Micro-step
1
1.2 MHz
10 MHz
Any value (user
selection)
Disabled
GPIO
Full-step
1
131 kHz
1 MHz
Secondary timer is
not enabled
FTM
Disabled
PWM
Full-step
1
131 kHz
1 MHz
Secondary timer is
not enabled
FTM
Enabled
PWM
Full-step
1
131 kHz
1 MHz
The same values as
for primary timer
1st value for
Full-step: 131 kHz
1st value for
Full-step: 1 MHz
2
2nd value for
Micro-step:1.2
MHz
2nd value for
Micro-step:10
MHz
1
1.2 MHz
10 MHz
Full-step and
Micro-step
mode
FTM
Disabled
PWM
Full-step and
Micro-step
Full-step and
Micro-step
mode
FTM
Enabled
PWM
Full-step
6.3.5.1
Primary Timer Input Frequency
Secondary timer is
not enabled
The same values as
for primary timer
Computation of Minimum Full-stepping Speed
The minimum full-stepping speed depends on the timer input frequency only when the Primary Timer Device is set to FTM (FTM0_CNT,
or FTM1_CNT, etc.), the Secondary Timer property is disabled and Output Control is set to PWM. The Full-step signal is generated by
a timer while channels toggle on compare (See Figure 21).
Figure 21. Generating the Full-step Control Signal
The Full-step minimum speed is derived from the input frequency of the timer device (the counter frequency property of the
TimerUnit_LDD component being used). You can find minimum values for speed in the LVHBridge header file (see constant
<component_name>_MIN_FULLSTEP_ SPEED). The formula for calculation of this value is as follows:
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2 X Counter_frequency
Speedmin =
65536
+ 1
where:
Counter_frequency = input frequency of the timer device
65536
= maximum value of TimerUnit_LDD counter (16-bit counter).
Adding 1 ensures that the 16-bit counter does not overflow (which is the point of the formula.)
For example if the Counter frequency is set to 187,500 Hz, the minimum speed is:
2 X Counter_frequency
Speedmin =
65536
2 X 187500
+ 1 =
65536
+ 1 = 6.72
The MCU rounds the value down, so the result is 6 full-steps per second.
6.3.5.2
Setting the Minimum Full-stepping Speed
This section describes how to change the input frequency of the TimerUnit_LDD component.
1. Launch Processor Expert and select the LVHBridge component.
2. In the Processor Expert menu bar, set component visibility to Advanced.
3. In the Properties tab, find the Motor Control -> Stepper Motor -> Manual timer setting property and set the value to Enabled. If
you do not see this property, make sure that component visibility is set to Advanced (see Figure 22).
4. Set the TimerUnit_LDD frequency
a) In the Components view, double click on the TimerUnit_LDD component.
b) Press the button in the Counter frequency field.
c) Set the frequency value (187.5 kHz in the illustration). The list of available frequencies depends on the CPU component
settings (with an external crystal as the clock source and a core clock of 48 MHz).
d) Set the Allowed Error value at 10% (see Figure 24).
1
2
Figure 22. Enabling the Manual Frequency Setting
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3
Figure 23. Component TimerUnit_LDD Timing Dialog
5
4
Figure 24. Component TimerUnit_LDD timing dialog—Select Input Frequency
6.3.6
Generating Application Code
After configuration, generate the source code by clicking on the icon in the upper right corner of the Components screen.
Figure 25. Generating the Source Code
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The driver code for the H-Bridge device will be generated into the Generated_Code folder in the project view. The component only
generates application driver code. It does not generate application code.
Figure 26. Generated Files
6.3.7
Using the Interface
Application code can be written and tested in the project. For example, you can open the LVHBridge component method list, drag and
drop RotateProportional to main.c (see Figure 27), add any necessary parameters, then compile the program.
Figure 27. Using the Interface
To compile, download and debug on board, click compile, then click the debug icon in the toolbar. CodeWarrior will download and launch
the program on board (see Figure 28).
Figure 28. Compile and Download the Application
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A description of each LVHBridge method appears in the pop-up window (see Figure 29).
Figure 29. LVHBridge Method Information
6.4
Stepper Motor Control Application Notes
The LVHBridge component is designed to control a two phase bipolar stepper motor. Because a stepper motor uses electrical
commutation to rotate, it requires a dual H-Bridge device. The basic control method is full-stepping which fully powers each coil in
sequence. Increased precision is achieved by using the PWM to control coil current (open loop control). This method is called
micro-stepping (available in the LVHBridge component.)
In both micro-step and full-step mode you can control motor speed, direction, acceleration and deceleration and the position of the stepper
motor.
The following application notes apply to stepper motor control:
• The LVHBridge component was tested with a core clock frequency ranging from 20 MHz (minimum value) to 120 MHz.
• Do not change the settings of the timer device (TimerUnit_LDD) linked by the LVHBridge component. The component sets the timer
device automatically.
• The acceleration and deceleration ramp of the stepper motor is computed in real-time using integer arithmetic. This solution is based
on the article “Generate stepper-motor speed profiles in real time" (Austin, David. 2005.)
• The stepper motor holds its position (coils are powered) after motor movement is completed. Use method DisableMotor to set
H-Bridge outputs to LOW (coils are not powered).
• Forward motor direction indicates that steps are executed in the order depicted in Figure 30. IN1 through IN4 are the input pins of the
H-Bridge device which control H-Bridge outputs. These pins input to the stepper motor. You must connect the stepper motor to output
pins OUT1-OUT4 and select control input pins on your MCU in the component settings.
• The FTM or TPM timer device is needed by the stepper control logic.
• The AlignRotor method affects the position of the motor. This method executes four full-steps. It is available only when full-step mode
is enabled.
6.4.1
Full-step Control Mode
The component uses normal drive mode where two coils are powered at the same time.
As mentioned in Section 6.3.4, you can generate a full-stepping signal either by using four channels of a timer or by using four GPIO pins.
The signal generated by the MCU (inputs of H-Bridge device) using four timer channels is shown in Figure 30. The voltage levels applied
to the coils of the stepper motor are depicted in Figure 31. Note that the voltage is applied to both coils at the same time.
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Figure 30. Signals of Logic Input Pins Generated by the MCU in Full-step Mode
Figure 31. Output of the H-Bridge Device in Full-step Mode
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6.4.2
Micro-step Control Mode
Micro-stepping allows for smoother motor movement and increased precision. The current varies in motor windings A and B depending
on the micro-step position. A PWM signal is used to reach the desired current value (see the following equations). This method is called
sine cosine micro-stepping.
IA = IMAX X sin(θ)
IB = IMAX X cos(θ)
where:
IA
= the current in winding A
IB
= the current in winding B,
IMAX
= the maximum allowable current
θ
= the electrical angle
In micro-step mode, a full-step is divided into smaller steps (micro-steps). The LVHBridge component offers 2, 4, 8, 16, and 32 micro-steps
per full-step. The micro-step size is defined by the property “Micro-steps per Step” and can be changed later in C code.
IB
0
120
8
112
16
IB
0
32
96
IA
40
88
80
64
16
24
32
IA = sin(22.5) = 38.75%
48
72
8
IB = cos(22.5) = 92.39%
24
104
IA
56
Figure 32. Micro-stepping Phase Diagram
Table 11: Micro-Step Phase Table (1)
Micro-step size
1/2
1/4
1/8
1/16
1/32
0
0
0
0
0
1
1
1
2
3
Angle
I [% of IMAX]
Micro-step size
Angle
I [% of IMAX]
A
B
1/2
1/4
1/8
1/16
1/32
A
B
0.0
0
100
4
8
16
32
64
180
0
-100
1
2.8
4.91
99.88
65
182.8
-4.91
-99.88
2
5.6
9.8
99.52
66
185.6
-9.8
-99.52
3
8.4
14.67
98.92
67
188.4
-14.67
-98.92
4
11.3
19.51
98.08
68
191.3
-19.51
-98.08
5
14.1
24.3
97
69
194.1
-24.3
-97
3
6
16.9
29.03
95.69
35
70
196.9
-29.03
-95.69
7
19.7
33.69
94.15
71
199.7
-33.69
-94.15
4
8
22.5
38.27
92.39
36
72
202.5
-38.27
-92.39
9
25.3
42.76
90.4
73
205.3
-42.76
-90.4
5
10
28.1
47.14
88.19
37
74
208.1
-47.14
-88.19
11
30.9
51.41
85.77
75
210.9
-51.41
-85.77
6
12
33.8
55.56
83.15
38
76
213.8
-55.56
-83.15
13
36.6
59.57
80.32
77
216.6
-59.57
-80.32
7
14
39.4
63.44
77.3
39
78
219.4
-63.44
-77.3
2
33
17
9
18
19
34
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Table 11: Micro-Step Phase Table (1) (continued)
Micro-step size
1/2
1/4
1/8
1/16
1/32
2
4
5
3
6
7
2
4
8
9
5
10
11
3
6
12
13
7
14
15
I [% of IMAX]
A
B
42.2
67.16
74.1
16
45
70.71
70.71
17
47.8
74.1
67.16
9
18
50.6
77.3
63.44
19
53.4
80.32
59.57
10
20
56.3
83.15
55.56
21
59.1
85.77
51.41
11
22
61.9
88.19
47.14
23
64.7
90.4
42.76
12
24
67.5
92.39
38.27
25
70.3
94.15
33.69
13
26
73.1
95.69
29.03
27
75.9
97
24.3
14
28
78.8
98.08
19.51
29
81.6
98.92
14.67
15
30
84.4
99.52
9.8
31
86.4
99.8
6.3
16
32
90
100
0.00
33
92.8
99.88
-4.91
17
34
95.6
99.52
-9.8
35
98.4
98.92
-14.67
36
101.3
98.08
-19.51
37
104.1
97
-24.3
19
38
106.9
95.69
-29.03
39
109.7
94.15
-33.69
20
40
112.5
92.39
-38.27
41
115.3
90.4
-42.76
21
42
118.1
88.19
-47.14
43
120.9
85.77
-51.41
22
44
123.8
83.15
-55.56
45
126.6
80.32
-59.57
23
46
129.4
77.3
-63.44
47
132.2
74.1
-67.16
24
48
135
70.71
-70.71
49
137.8
67.16
-74.1
25
50
140.6
63.44
-77.3
51
143.4
59.57
-80.32
26
52
146.3
55.56
-83.15
53
149.1
51.41
-85.77
27
54
151.9
47.14
-88.19
55
154.7
42.76
-90.4
28
56
157.5
38.27
-92.39
57
160.3
33.69
-94.15
29
58
163.1
29.03
-95.69
59
165.9
24.3
-97
30
60
168.8
19.51
-98.08
61
171.6
14.67
-98.92
31
62
174.4
9.8
-99.52
63
176.4
6.3
-99.8
15
1
Angle
8
18
Micro-step size
1/2
1/4
1/8
1/16
1/32
10
20
21
11
22
23
6
12
24
25
13
26
A
B
-67.16
-74.1
80
225
-70.71
-70.71
81
227.8
-74.1
-67.16
41
82
230.6
-77.3
-63.44
83
233.4
-80.32
-59.57
42
84
236.3
-83.15
-55.56
85
239.1
-85.77
-51.41
43
86
241.9
-88.19
-47.14
87
244.7
-90.4
-42.76
44
88
247.5
-92.39
-38.27
89
250.3
-94.15
-33.69
45
90
253.1
-95.69
-29.03
91
255.9
-97
-24.3
46
92
258.8
-98.08
-19.51
93
261.6
-98.92
-14.67
47
94
264.4
-99.52
-9.8
95
266.4
-99.8
-6.3
48
96
270
-100
0.00
97
272.8
-99.88
4.91
49
98
275.6
-99.52
9.8
99
278.4
-98.92
14.67
19.51
40
50
100
281.3
-98.08
101
284.1
-97
24.3
51
102
286.9
-95.69
29.03
103
289.7
-94.15
33.69
52
104
292.5
-92.39
38.27
105
295.3
-90.4
42.76
106
298.1
-88.19
47.14
107
300.9
-85.77
51.41
54
108
303.8
-83.15
55.56
109
306.6
-80.32
59.57
55
110
309.4
-77.3
63.44
111
312.2
-74.1
67.16
56
112
315
-70.71
70.71
113
317.8
-67.16
74.1
57
114
320.6
-63.44
77.3
115
323.4
-59.57
80.32
58
116
326.3
-55.56
83.15
117
329.1
-51.41
85.77
59
118
331.9
-47.14
88.19
119
334.7
-42.76
90.4
60
120
337.5
-38.27
92.39
121
340.3
-33.69
94.15
61
122
343.1
-29.03
95.69
123
345.9
-24.3
97
62
124
348.8
-19.51
98.08
125
351.6
-14.67
98.92
63
126
354.4
-9.8
99.52
127
356.4
-6.3
99.8
53
27
7
14
28
29
15
30
31
I [% of IMAX]
222.2
79
5
Angle
KTFRDM17533EVUG, Rev. 2.0
32
Freescale Semiconductor, Inc.
Installing the Processor Expert Software
Table 11: Micro-Step Phase Table (1) (continued)
Micro-step size
1/2
1/4
1/8
1/16
1/32
4
8
16
32
64
Angle
180
I [% of IMAX]
Micro-step size
A
B
1/2
1/4
1/8
1/16
1/32
0.00
-100
8
16
32
64
128
Angle
360
I [% of IMAX]
A
B
0.00
100
Notes:
1. Shaded rows indicate one quarter step of the motor
The micro-stepping signal is generated using four timer channels (see Figure 33). Output from logic analyzer in Figure 34 shows the
change of PWM duty with respect to the micro-step position. Current values applied to the stepper motor coils are depicted in Figure 35.
Figure 33. Logic Input Pin Signals Generated by the MCU in Micro-step Mode
Figure 34. Logic Analyzer Output
Figure 35. H-Bridge Device Output in Micro-step Mode
KTFRDM17533EVUG, Rev. 2.0
Freescale Semiconductor
33
Installing the Processor Expert Software
6.5
Frequently Asked Questions
Q: How do I set up the LVHBridge component when two or more components with conflicting values are configured to control brushed
motors? (See Figure 36)
Figure 36. Conflict in the Required Values for Components in the Project
A: You can use more LVHBridge components in same project. These components can share the same timer device in brushed motor
control mode, but PWM Frequency and Timer Device properties must conform in all of the components.
Q: I sometimes get the following unexpected error while generating Processor Expert code: "Generator: FAILURE: Unexpected status
of script: Drivers\Kinetis\TimerUnit_LDD.drv, please contact Freescale support". What causes this?
A:
Occasionally, when you enable the LVHBridge component in your project, the TimerUnit_LDD component channels have not been
allocated. If this occurs, changing certain LVHBridge properties will force allocation of the channels. If you are configuring a stepper
motor (Motor Control property set to Stepper), try changing the Output Control property to GPIO and then back to PWM. If you are
configuring a brushed motor (Motor Control property set to Brushed), change the Control Mode property to State Control and then
back to Speed Control on interface 1 or interface 2.
Figure 37. Unexpected Error Related to the LVHBridge TimerUnit_LDD Component
Q: I have set up several CPU clock configurations (via the Clock configurations property of the CPU component.) Sometimes during
runtime, when I switch between these configurations (using the CPU SetClockConfiguration method), the speed of the stepper
motor appears to be inaccurate. Why does this occur?
A:
Switching to a different configuration results in the use of a different input frequency by a timer device. LVHBridge may not pick up
the new value and continues to use the previous value in its calculations.
Q: What does the error message "The component has no method to enable its event (OnCounterRestart)" raised in an LVHBridge
TimerUnit_LDD component mean?
A: This occurs only when you add an LVHBridge component to a project and set the Motor Control property to Stepper. The error will
disappear if you change any property of the LVHBridge component.
KTFRDM17533EVUG, Rev. 2.0
34
Freescale Semiconductor, Inc.
A
B
C
5
0
C7
470PF
0
2
4
3
1
MIC5205
GND
ADJ
EN
IN
U2
OUT
5
0
R9
15K
R8
9.1K
DNP
TP15
0
OE
IN2A
IN2B
IN1A
IN1B
U1
C8
2.2UF
TP1
DNP
6
OE_
R1
33K
DNP
3
4
14
13
IN2A
IN2B
0
IN1A
IN1B
0
R4
33K
DNP
RUNPWRGD
R3
10k
C3
0.1 UF
0
0
VG
15
10
1
8
4
MPC17533
OUT2A
OUT2B
OUT1A
OUT1B
2
1
OUT2A
OUT2B
OUT1A
OUT1B
HDR_1X2
DNP
J9
R2 DNP
0
J5
TP4
0
1
2
0
0
C10
0.01UF
DNP
DNP
TP14
SUB_TB_2x1
J7
C4
10uF
OUT1B
C9
0.01UF
DNP
DNP
SUB_TB_2x1
1
2
OUT1A
0
D1
MMSZ5234BT1G
F1
3216FF750
0
TP2
220
R5
OUT2A
0
J8
SUBASSY_TB_3x1
J6
SUBASSY_TB_3x1
1
2
3
2
1
MOTOR DRIVER
4
C
A
1
2
3
SNSIN
ANLIN
D
5
VDD
12
VG
PGND1
PGND2
2
11
VM1
VM2
LGND
7
0
C11
0.01UF
DNP
DNP
C
3
Q2
BSS138
0
C12
0.01UF
DNP
DNP
0
TP3
OUT2B
0
R10
33K
DNP
1
LED GREEN
D4
READY
A
3
3
Freescale Semiconductor
2
TP6
DNP TP12
DNP TP13
DNP
IN1A
IN2B
TP5
IN2A
DNP
IN1B
J2
J3
HDR_10X2
2
4
6
8
10
12
14
16
18
20
HDR_2X8
2
4
6
8
10
12
14
16
1
3
5
7
9
11
13
15
17
19
1
3
5
7
9
11
13
15
2
RUNPWRGD
TP11
DNP
DNP
TP9
DNP
TP8
TP7
DNP
READY
SNSIN
OE_
0
15
13
11
9
7
5
3
1
11
9
7
5
3
1
FREEDOM BOARD CONNECTOR INTERFACE
2
J1
HDR_2X8
16
14
12
10
8
6
4
2
J4
12
10
8
6
4
2
HDR_2X6
0
DNP
TP10
ANLIN
FCP: ___
FIUO: X
Friday, March 07, 2014
1
Sheet
1
of
PUBI: ___
SCH-28191 PDF: SPF-28191
Document Number
Date:
Schematic
FRDM-17533-EV
Size
C
Page Title:
ICAP Classification:
Drawing Title:
1
1
Rev
A
A
B
C
D
7
9
16
5
Schematic
Schematic
Figure 38. Schematic
KTFRDM17533EVUG, Rev. 2.0
35
Silkscreen
8
8.1
Silkscreen
Silkscreen Top
KTFRDM17533EVUG, Rev. 2.0
36
Freescale Semiconductor, Inc.
Bill of Materials
9
Bill of Materials
Table 12. Bill of Materials (2)
Item
Qty
Schematic
Label
Value
Description
Part Number
Assy Opt
Active Components
1
1
U1
TSSOP24
H-Bridge motor driver
MPC17533EV
(3)
U2
SOT23-5
Linear Reg LDO 1.5-15 V 150 MA 2.5-16 V
MIC5205
(3)
Other Components
2
1
Transistors
3
2
Q1, Q2
SOT-23
Transistor NMOS 50 V 220 MA
BSS138
1
D1
SOD123
Diode Zener – 6.2 V 0.5 W
MMSZ5234B
1
D4
0603
LED Green Single 20 MA
LG L29K-G2J1-24-Z
Diodes
4
LEDs
5
Capacitors
6
3
C1, C2, C3
0.1 uF
Ceramic 0.1 μF 50 V 10% X7R
0805
7
1
C4
10 uF
Ceramic 10 μF 35 V 10% X7R
1210
8
1
C8
2.2 uF
Ceramic 2.2 μF 16 V 10% X7R
0805
9
1
C7
470 pF
Ceramic 470 pF 50 V 5% COG
0805
1
F1
1.25 A
Fuse Fast 1.25 A 63 V SMT
11
1
R3
10 k
Metal Film 10 k 1/10 W 1%
0805
12
1
R5
220
Metal Film 220 Ω 1/8 W 1%
0805
13
1
R8
9.1 k
Metal Film 9.1 k 1/10 W 1%
0805
14
1
R9
15 k
Metal Film 15 k 1/8 W 5%
0805
Fuses
10
Resistors
Connectors
15
2
J1, J2
HDR 2X8 TH 100MIL CTR TSW-108-07-G-D
SAMTEC
HDR 2X8
16
1
J3
HDR 2X10 TH 100MIL CTR TSW-110-07-S-D
SAMTEC
HDR 2X10
17
1
J4
HDR 2X6 TH 100MIL CTR TSW-106-07-S-D
SAMTEC
HDR 2X6
18
2
J5, J7
SUBASSEMBLY CON 1X3 TB TH 3.81MM SP
201H -- 138L + TERM BLOCK PLUG 3.81MM
TERM BLOCK 1x2
2POS
210-80097, 210-80098
19
2
J6, J8
SUBASSEMBLY CON 1X3 TB TH 3.81MM SP
201H -- 138L + TERM BLOCK PLUG 3.81MM TERM BLOCK 1x3
3POS210-80099, 211-79220
Notes:
2. Freescale does not assume liability, endorse, or warrant components from external manufacturers that are referenced in circuit drawings or tables.
While Freescale offers component recommendations in this configuration, it is the customer’s responsibility to validate their application.
3. Critical components. For critical components, it is vital to use the manufacturer listed.
KTFRDM17533EVUG, Rev. 2.0
Freescale Semiconductor
37
References
10
References
Following are URLs where you can obtain information on related Freescale products and application solutions:
Freescale.com
Support Pages
Description
FRDM-17533EV-EVB
Tool Summary Page
www.freescale.com/FRDM-17533EV-EVB
MPC17533
Product Summary
Page
www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MPC17533
FRDM-KL25Z
Freescale
Development
Platform
www.freescale.com/webapp/sps/site/prod_summary.jsp?code=FRDM-KL25Z
Analog Home Page
freescale.com/analog
Automotive Home
Page
www.freescale.com/automotive
mbed Home Page
www.mbed.org
Processor Expert
Tool Summary Page
www.freescale.com/LVHBRIDGE-PEXPERT
CodeWarrior
Tool Summary Page
www.freescale.com/webapp/sps/site/homepage.jsp?code=CW_HOME&tid=vanCODEWARRIOR
Processor Expert Code
Model
Code Walkthrough
Video
www.freescale.com/video/processor-expert-code-model-codewarrior-code-walkthrough:PROEXPCO
DMODCW_VID
URL
10.1 Support
Visit www.freescale.com/support for a list of phone numbers within your region.
10.2 Warranty
Visit www.freescale.com/warranty to submit a request for tool warranty.
KTFRDM17533EVUG, Rev. 2.0
38
Freescale Semiconductor, Inc.
Revision History
11
Revision History
Revision
Date
Description of Changes
1.0
11/2014
• Initial Release
2.0
9/2015
• Added Processor Expert section
KTFRDM17533EVUG, Rev. 2.0
Freescale Semiconductor
39
How to Reach Us:
Information in this document is provided solely to enable system and software implementers to use Freescale products.
Home Page:
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There are no express or implied copyright licenses granted hereunder to design or fabricate any integrated circuits based
Web Support:
freescale.com/support
Freescale reserves the right to make changes without further notice to any products herein. Freescale makes no
on the information in this document.
warranty, representation, or guarantee regarding the suitability of its products for any particular purpose, nor does
Freescale assume any liability arising out of the application or use of any product or circuit, and specifically disclaims any
and all liability, including without limitation consequential or incidental damages. “Typical” parameters that may be
provided in Freescale data sheets and/or specifications can and do vary in different applications, and actual performance
may vary over time. All operating parameters, including “typicals,” must be validated for each customer application by
customer’s technical experts. Freescale does not convey any license under its patent rights nor the rights of others.
Freescale sells products pursuant to standard terms and conditions of sale, which can be found at the following address:
freescale.com/SalesTermsandConditions.
Freescale, the Freescale logo, Processor Expert, CodeWarrior and Kinetis are trademarks of Freescale Semiconductor,
Inc., Reg. U.S. Pat. & Tm. Off. SMARTMOS is a trademark of Freescale Semiconductor, Inc. All other product or service
names are the property of their respective owners.
© 2015 Freescale Semiconductor, Inc.
Document Number: KTFRDM17533EVUG
Rev. 2.0
9/2015