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 2 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 4 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 KTFRDM17533EVUG, Rev. 2.0 6 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 KTFRDM17533EVUG, Rev. 2.0 Freescale Semiconductor 7 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 8 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 KTFRDM17533EVUG, Rev. 2.0 Freescale Semiconductor 9 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 KTFRDM17533EVUG, Rev. 2.0 10 Freescale Semiconductor, Inc. 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 KTFRDM17533EVUG, Rev. 2.0 Freescale Semiconductor 11 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. KTFRDM17533EVUG, Rev. 2.0 12 Freescale Semiconductor, Inc. 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. KTFRDM17533EVUG, Rev. 2.0 Freescale Semiconductor 13 Installing the Processor Expert Software 6 Installing the Processor Expert Software 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. KTFRDM17533EVUG, Rev. 2.0 14 Freescale Semiconductor, Inc. Installing the Processor Expert Software 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). KTFRDM17533EVUG, Rev. 2.0 Freescale Semiconductor 15 Installing the Processor Expert Software 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. KTFRDM17533EVUG, Rev. 2.0 16 Freescale Semiconductor, Inc. Installing the Processor Expert Software 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 KTFRDM17533EVUG, Rev. 2.0 Freescale Semiconductor 17 Installing the Processor Expert Software 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). KTFRDM17533EVUG, Rev. 2.0 18 Freescale Semiconductor, Inc. Installing the Processor Expert Software 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. KTFRDM17533EVUG, Rev. 2.0 Freescale Semiconductor 19 Installing the Processor Expert Software 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. KTFRDM17533EVUG, Rev. 2.0 20 Freescale Semiconductor, Inc. Installing the Processor Expert Software 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 KTFRDM17533EVUG, Rev. 2.0 Freescale Semiconductor 21 Installing the Processor Expert Software 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. KTFRDM17533EVUG, Rev. 2.0 22 Freescale Semiconductor, Inc. Installing the Processor Expert Software 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). KTFRDM17533EVUG, Rev. 2.0 Freescale Semiconductor 23 Installing the Processor Expert Software 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). KTFRDM17533EVUG, Rev. 2.0 24 Freescale Semiconductor, Inc. Installing the Processor Expert Software 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: KTFRDM17533EVUG, Rev. 2.0 Freescale Semiconductor 25 Installing the Processor Expert Software 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 KTFRDM17533EVUG, Rev. 2.0 26 Freescale Semiconductor, Inc. Installing the Processor Expert Software 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 KTFRDM17533EVUG, Rev. 2.0 Freescale Semiconductor 27 Installing the Processor Expert Software 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 KTFRDM17533EVUG, Rev. 2.0 28 Freescale Semiconductor, Inc. Installing the Processor Expert Software 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. KTFRDM17533EVUG, Rev. 2.0 Freescale Semiconductor 29 Installing the Processor Expert Software 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 KTFRDM17533EVUG, Rev. 2.0 30 Freescale Semiconductor, Inc. Installing the Processor Expert Software 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 KTFRDM17533EVUG, Rev. 2.0 Freescale Semiconductor 31 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 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: freescale.com 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