EVAL6472H-DISC

UM1692 User manual EVAL6472H-DISC: fully integrated stepper motor driver based on the L6472 and STM32™ Introduction The EVAL6472H-DISC can be used together with the STM32™ firmware library V1.0 and constitutes a complete motor control evaluation and a development platform. It is a demonstration board for motor control applications in the range of 8 V to 45 V of DC bus voltage using the STM32F105RB microcontroller with an internal 128 kB Flash size and a 64 kB internal RAM and the L6472 fully integrated solution suitable for driving two-phase bipolar stepper motors up to 1/16 microstepping. The L6472 device integrates a dual DMOS full bridge with all of the power switches equipped with an accurate on-chip current sensing circuitry suitable for non-dissipative current control and overcurrent protection. With dedicated hardware evaluation features, the EVAL6472H-DISC board is designed to help developers evaluate the device and develop their own applications. Figure 1. Board image April 2015 DocID025487 Rev 2 1/42 www.st.com 42 Contents UM1692 Contents 1 Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.1 Target applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.2 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2 Electrical characteristics of the board . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3 Schematic, layout and bill of material . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 4 General description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.1 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.2 L6472 stepper motor driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.2.1 Charge pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.2.2 Advanced current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.2.3 Overcurrent detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.2.4 Speed profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.3 STM32F105RB microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.4 Firmware loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4.5 4.6 4.4.1 DfuSe installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4.4.2 Generate a DFU file from a HEX file . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4.4.3 Board settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4.4.4 DFU loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Using the EVAL6472H-DISC with the firmware for the GUI (FWGUI) . . . 25 4.5.1 Sanity check of the board with the firmware for the GUI (FWGUI) . . . . 25 4.5.2 Parameters exportation from the GUI to the FW library . . . . . . . . . . . . . 34 Using the EVAL6472H-DISC with the firmware library . . . . . . . . . . . . . . . 36 4.6.1 FW library package contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.6.2 FW L6472 library description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.6.3 Demonstration sequence description . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.6.4 Create a project using the FW library package . . . . . . . . . . . . . . . . . . . 41 5 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 6 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 2/42 DocID025487 Rev 2 UM1692 List of figures List of figures Figure 1. Figure 2. Figure 3. Figure 4. Figure 5. Figure 6. Figure 7. Figure 8. Figure 9. Figure 10. Figure 11. Figure 12. Figure 13. Figure 14. Figure 15. Figure 16. Figure 17. Figure 18. Figure 19. Figure 20. Figure 21. Figure 22. Figure 23. Figure 24. Figure 25. Figure 26. Figure 27. Figure 28. Figure 29. Board image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Schematic (microcontroller supply part) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Schematic (microcontroller part) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Schematic (motor driver part) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Layout (silk screen). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Layout top and bottom layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Microcontroller supply section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 L6472 block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Charge pump circuitry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 STM32F105xx and STM32F107xx block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 DFU file manager (action). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 DFU file manager (generation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Board settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 DFU loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 DFU file (open) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 DFU file (upgrade) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 DFU file (confirmation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 DFU file ( download OK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Starting board (BOOT mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Starting board (motor power supply) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Starting board (USB connection) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Starting board (error case) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Starting board (board OK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Starting board (display board ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Starting board (action LEFT key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Starting board (action RIGHT key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Starting board (action RESET key). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Parameters exportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Parameters exportation (save file) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 DocID025487 Rev 2 3/42 42 Main features 1 UM1692 Main features The characteristics of the EVAL6472H-DISC board are following: 1.1  DC voltage range from 8 V to 45 V  Maximum load phase current at 3 A r.m.s.  Footprint for external resonator or crystal  Control interface through trimmer - user keys and switch motor input  Control through LED indicators  Interface control by USB and debug outputs  Compatible with SPINFamily evaluation tool  Autonomous board due to embedded firmware  Up to 1/16 microstepping  Optimized layout on 2-layer board - low cost and high thermal performance Target applications The demonstration board is designed to fit all typical stepper motor applications - it is an autonomous board due to embedded firmware. 1.2 Description The EVAL6472_DISC is downloaded with embedded firmware. The possibility with this board is double:  To adapt the settings with your specific setup (motor - voltage) by using the dedicated PC application. –  4/42 The user is able to save inside the board the specific parameters depending on a user setup. Using the board (with user parameters) directly on a site - without a connected PC. DocID025487 Rev 2 UM1692 2 Electrical characteristics of the board Electrical characteristics of the board Table 1. Electrical specifications Name Value Supply voltage (VS) 8 to 45 V Maximum output current (each phase) 3 A r.m.s Logic supply voltage (VREG) 3 V (L6472 regulator supply) Logic interface voltage (VDD) 3.3 V (USB supply) Low level logic inputs voltage 0V High level logic input voltage VDD Stepping Up to 1/16 microstepping Operating temperature 0 to 85 °C DocID025487 Rev 2 5/42 42 Schematic, layout and bill of material 3 UM1692 Schematic, layout and bill of material Figure 2. Schematic (microcontroller supply part) 9'' 9'' 73  8     -     6+(// 6+(// 6+(// 6+(// 86%B9&& 86%'0 86%'3 ,' 86%B*1'      9 86%'0 86%'3  & Q)     .(@50,,B5;'>@ 0,,B5;B(550,,B5;B(5 0,,B5;B&/.50,,B5()B&/. 0,,B5;B'950,,B&56B'9 0,,B&56 0,,B&2/50,,B&2/ 0'& 0',2 336B287 9ROWDJHUHJ 9WR9 'EXV )PD[ 0+] 3RZHU 9'' ,QWHUIDFH 73,8 6:-7$* )ODVKO REO DV$) 1-7567 -7', -7&.6:&/. -7066:',2 -7'2 DV$ ) %XV 0DWUL [ 75$&(&/. 75$&('>@ E[ &$1 EL W$'& ,) ELW$'& ,) &$1B7;D V $) &$1B5;DV$) 7,0 ,) ELW '$& ,) '$&B287DV$) 7,0 ELW'$&  '$&B287DV$) #9''$ #9''$ DL 16/42 DocID025487 Rev 2 UM1692 4.4 General description Firmware loading This section describes how to load firmware to the board by using the DfuSe demonstration software. 4.4.1 DfuSe installation You need first to download the DfuSe demonstration software from: www.st.com. The DfuSe tool is referenced under the development suite STSW-STM32080 Once downloaded, run the setup.exe file. More details on DfuSe are given in the UM0412 user manual. 4.4.2 Generate a DFU file from a HEX file If the file you want to download to the discovery board is not a DFU file but a HEX file, you will need first to convert it. In this purpose,  Start the DFU file manager (V3.0.3 or greater) which has been installed with the DfuSe.  Choose “I want to GENERATE a DFU file from S19, HEX or BIN files”. Figure 10. DFU file manager (action) DocID025487 Rev 2 17/42 42 General description UM1692  Click on the “S19 or Hex”… button.  Select in the open dialog box the File of type “hex Files”, select the HEX file and click “OK”.  Click on the “Generate…” button.  Give a name to the *.dfu file and click on the “Save” button. Figure 11. DFU file manager (generation) 18/42 DocID025487 Rev 2 UM1692 4.4.3 General description Board settings To be able to download firmware, the discovery board should be started in the “DFU” mode. In this purpose: 1. Remove the jumper from the BOOT pins. 2. Plug a USB cable between the discovery board and the PC. It does not matter if the VS connector is plugged or not to a supply voltage. Figure 12. Board settings DocID025487 Rev 2 19/42 42 General description 4.4.4 UM1692 DFU loading At this step, you are now ready to perform the firmware upgrade. 1. Start the “DfuSeDemo.exe”. 2. You must have an “STM Device in DFU Mode” in the list of the “Available DFU Devices”. Else, it means that your board is not correctly configured or not connected to the PC. Figure 13. DFU loading 3. 20/42 In the “Upgrade or Verify Action” group, click on the “Choose…” button. DocID025487 Rev 2 UM1692 General description 4. Select the *.dfu file of your choice in the open dialog box and click on the “Open” button. Figure 14. DFU file (open) DocID025487 Rev 2 21/42 42 General description 5. UM1692 Click on the “Upgrade” button. Figure 15. DFU file (upgrade) 6. If this dialog box appears, click “Yes”. Figure 16. DFU file (confirmation) 22/42 DocID025487 Rev 2 UM1692 General description 7. Once the download is performed, you should have: Figure 17. DFU file ( download OK) 8. Do no forget to put the jumper back on the BOOT pins in order to restart the discovery board to the normal mode! DocID025487 Rev 2 23/42 42 General description 4.5 UM1692 Using the EVAL6472H-DISC with the firmware for the GUI (FWGUI) By default the discovery board is loaded with the FWGUI. This firmware offers the capability to connect the board with a GUI: the SPINFamily evaluation tool. This GUI provides direct access to all L6472 registers and allows sending application commands. Both the FWGUI and the GUI can be downloaded from the “Design Resources” page of the L6472: The FWGUI can be downloaded to the discovery board as detailed in Section 4.4. The behavior of the GUI is detailed in the Help.chm file which is provided with the setup file of the GUI. 4.5.1 Sanity check of the board with the firmware for the GUI (FWGUI) At the startup of the FWGUI, a sanity check is performed to confirm the discovery board is working correctly. The status is returned via the board LEDs. To have a correct execution of the sanity check, please follow the steps below: 1. Place a jumper on the BOOT pins (bottom left corner of the board): Figure 18. Starting board (BOOT mode) 24/42 DocID025487 Rev 2 UM1692 General description 2. Connect the board to a 5 V - 45 V DC power supply: Figure 19. Starting board (motor power supply) DocID025487 Rev 2 25/42 42 General description 3. UM1692 Plug a USB cable (which must at least provide a power supply). Figure 20. Starting board (USB connection) 4. 26/42 The board should switch on automatically. DocID025487 Rev 2 UM1692 General description 5. At this step: a) If a problem is detected, the “ready” LED (green) and the “error” LED (red) will switch on without blinking. This means that: – either the board ID is not recognized by the FW (bad FW versions used) – or there is a problem with the SPI (no connection between the MCU and the L6472 via the SPI) – or there is no 5 V - 45 V DC power supply. Figure 21. Starting board (error case) DocID025487 Rev 2 27/42 42 General description UM1692 b) If no problem is detected, the LEDs will start an infinite two-step loop: – In the first step, the four LEDs will switch on one after the other by starting by the green one and ending by the yellow one. Figure 22. Starting board (board OK) 28/42 DocID025487 Rev 2 UM1692 General description – In the second step, only the LEDs which correspond to the board ID are switched on all at the same time. For the L6472 device, there are the green, red, yellow LEDs. Figure 23. Starting board (display board ID) DocID025487 Rev 2 29/42 42 General description 6. UM1692 Press the LEFT button and check the two-step loop stops after a few seconds. Only the green LED remains switched on. Figure 24. Starting board (action LEFT key) 30/42 DocID025487 Rev 2 UM1692 General description 7. Press the “RIGHT” button and check the two-step loops restarts. Figure 25. Starting board (action RIGHT key) DocID025487 Rev 2 31/42 42 General description 8. UM1692 Press the RESET button and check that the LEDs restart there two-step loop after the board reset. Figure 26. Starting board (action RESET key) Note: 32/42 Please note that once you have connected the discovery board to the GUI, the LEDs meaning is different. You then need to restart the board to perform a new auto-check and to have a valid status of the LEDs. DocID025487 Rev 2 UM1692 4.5.2 General description Parameters exportation from the GUI to the FW library Once you have customized the L6472 parameters with the GUI, you can export them to a header file in order to use it with the FW library. In this purpose: 1. Press the “header file” button on the main window of the GUI. Figure 27. Parameters exportation 2. Replace the existing “dspin_config.h” of your current FW library by the new one. DocID025487 Rev 2 33/42 42 General description UM1692 Figure 28. Parameters exportation (save file) 3. 34/42 Then you only need to recompile your project as usual to use the exported parameters. DocID025487 Rev 2 UM1692 4.6 General description Using the EVAL6472H-DISC with the firmware library The L6472 firmware library is supplied as an IAR workspace with a source, include project files. If you are using an IAR design environment, you just need to load the “dspin.eww” file and use the “fwlibrairies_dspin_discoverykit” project which is already active. If you are using a different design environment, you will find instructions in this user manual to build a new project on your preferred IDE. The L6472 firmware library is also supplied as an executable in a HEX and in a DFU format. It can be loaded into the EVAL6472H-DISC board as explained in Section 4.4 on page 17. 4.6.1 FW library package contents  FW L6472 library –  –  /stm32f10x/CMSIS Library used by the L6472 FW library STM32F10x Standard Peripherals Library Drivers –  Described in Section 4.6.2. CMSIS library /stm32f10x/STM32F10x_StdPeriph_Driver Library used by the L6472 FW library IAR workspace files – /user_motion/project/ewarm6/fwlibraries/dspin/dspin.eww - a workspace file – /user_motion/project/ewarm6/fwlibraries/dspin/settings/dspin.wsdt - a workspace settings file – /user_motion/project/ewarm6/fwlibraries/dspin/discoverykit - a directory containing L6472 discovery board project files and subdirectories – /user_motion/project/ewarm6/fwlibraries/dspin/discoverykit/Debug/Exe/ - a directory containing the *.hex and *.dfu executable files – /user_motion/project/ewarm6/fwlibraries/dspin/pcc009v2 - a directory containing PCC009V2 board project files and subdirectories. 4.6.2 FW L6472 library description The FW L6472 library has the following features  Register read, write and check  Register values conversion  Device configuration  Motion commands  FLAG and BUSY interrupts management  Button interrupts management  Step “Clock mode” management  Initialization routine using “GoUntil” and “ReleaseSW” commands  “Daisy Chain” mode. The FW L6472 library has been tested on the L6472H DISCOVERY board R1. The main program contains a commented demonstration sequence which uses all the FW L6472 DocID025487 Rev 2 35/42 42 General description UM1692 library supported features. This sequence is interactive and to proceed to the end some user action is necessary. For the “GoUntil” feature demonstration, when the LED SPARE is blinking for the first time, the user shall close the SW MOTOR jumper J8. This triggers a switch turn on event at the L6472 SW pin. For the “ReleaseSW” feature demonstration, when the LED SPARE is blinking again, the user shall open the SW MOTOR jumper J8. This triggers a L6472 SW pin release. At the end of the demonstration sequence, the GPIO connected to the LEFT and RIGHT buttons are configured to trigger interrupts on the microcontroller: On a LEFT button press, the microcontroller starts the motor at quarter of max. speed if it is stopped or doubles the motor speed if it is already running. On a LEFT button press, the microcontroller disables the power bridges after a smooth stop if the motor is running at minimum speed or halves the motor speed if the motor is running above minimum speed. Even if the “Daisy Chain” mode is supported in the L6472 FW library, the L6472 Discovery board HW does not allow it. Please contact ST support if you want more information on the “Daisy Chain” mode testing or implementation. The FW L6472 library consists of the following files 4.6.3  user_motion/dspin/inc/stm32f10x_conf.h Library configuration file  user_motion/dspin/src/stm32f10x_it.c Interrupt handlers  user_motion/dspin/inc/stm32f10x_it.h Header for stm32f10x_it.c  user_motion/dspin/inc/clock.h System clock setup related header  user_motion/dspin/src/clock.c System clock source file  user_motion/dspin/inc/dspin.h L6472 definitions header  user_motion/dspin/src/dspin.c L6472 routines source file  user_motion/dspin/inc/dspin_config.h L6472 configuration parameters (this file can be generated by the GUI)  user_motion/dspin/inc/main.h Main header file  user_motion/dspin/src/main.c Main program  user_motion/dspin/inc/pre_include.h First header file included by the preprocessor  user_motion/dspin/readme.txt Information on the files Demonstration sequence description The demonstration sequence description is for one L6472 device without daisy chaining. The application commands used are noted after the pipe character. The application commands traffic can be seen on the SPI interface, pins 18, 19, 20 and 23 which are respectively SDO, CK, SDI and CS. 36/42 DocID025487 Rev 2 UM1692 General description Initialization and configuration 1. Initialize peripherals used by L6472. 2. LED_READY (GREEN) is lighted up, other LEDs are switched off. 3. LED check sequence: a) LED_ERROR (RED) is switched ON b) LED_BUSY (ORANGE) is switched ON c) LED_SPARE (YELLOW) is switched ON d) LED_ERROR (RED), LED_BUSY (ORANGE) and LED_SPARE (YELLOW) are switched OFF. 4. Resets and puts L6472 into the standby mode. The L6472 STBY_RESET pin goes low for a few hundreds of µs and then goes high. 5. Program all L6472 registers | SetParam (PARAM, VALUE). Flag signal management 6. Read status register content | GetStatus 7. Interrupt configuration for FLAG signal 8. Motor runs at constant speed of a 400 steps/s forward direction | Run (DIR, SPD) 9. Tentative to write to the current motor absolute position register while the motor is running, as a consequence the LED_ERROR (RED) is lighted up | SetParam (PARAM, VALUE) 10. “Get Status” to clear FLAG due to non performable command, as a consequence the LED_ERROR (RED) is switched off | GetStatus 11. Motor stops smoothly | SoftStop 12. Wait until not busy - busy pin test (L6472 pin 22). Busy signal management 13. Interrupt configuration for BUSY signal 14. Motor moves by 100,000 steps in a reverse direction | Move (DIR, N_STEP) 15. During busy time the LED_BUSY (ORANGE) is switched ON 16. L6472 disables the power bridges after a deceleration to zero phase | SoftHiZ 17. LED_BUSY (ORANGE) is switched OFF. The LED_BUSY after the point 7 and the LED_ERROR after the point 13 are tied respectively to the BUSY/SYNC pin and the FLAG pin. So for example they are lighted up when the motor accelerates or decelerates. This is happening in the remaining part of the demonstration although not mentioned. DocID025487 Rev 2 37/42 42 General description UM1692 Various application commands examples 18. Motor moves by 60,000 steps forward | Move (DIR, N_STEP) 19. Wait until not busy - busy pin test (L6472 pin 22). 20. Sends L6472 command setting hold duty cycle to 0.5%, sends L6472 command changing run duty cycle to 5% | SetParam (PARAM, VALUE) 21. Motor runs at constant speed of 50 steps/s in a reverse direction | Run (DIR, SPD) 22. Motor softly stops after a few seconds | SoftStop 23. RESET KVAL_HOLD to initial value, RESET KVAL_RUN to initial value | SetParam (PARAM, VALUE) 24. Wait until not busy - busy status check in “Status” register | GetStatus 25. Motor moves by 100,000 steps forward | Move (DIR, N_STEP) 26. Wait until not busy - busy status check in “Status” register | GetStatus 27. Test of the Flag pin (L6472 pin 24) by polling, wait in endless cycle if problem is detected. 28. Motor moves to its home position | GoHome 29. Wait until not busy - busy pin test (L6472 pin 22). 30. Motor goes to absolute position 65535 through the shortest path | GoTo (ABS_POS) 31. Wait until not busy - busy pin test (L6472 pin 22). 32. Motor goes in a forward direction to absolute position 131071 | GoTo_DIR (DIR, ABS_POS) 33. Wait until not busy - busy pin test (L6472 pin 22). 34. Read run duty cycle (dSPIN_KVAL_RUN) parameter from L6472, read intersect speed (dSPIN_INT_SPD) parameter from L6472 | GetParam(PARAM) 35. “Read Status” register content | GetStatus 36. Read absolute position (dSPIN_ABS_POS) parameter from L6472 | GetParam(PARAM) 37. Reset position counter, actually | ResetPos 38. Read absolute position (dSPIN_ABS_POS) parameter from L6472 | GetParam(PARAM) 39. L6472 disable power stage (high impedance) immediately, as a consequence the L6472 supply current drops | HardHiZ. 38/42 DocID025487 Rev 2 UM1692 General description “Go Until” example 40. Interrupt configuration for the SW MOTOR 41. Motor motion in a forward direction at speed 400 steps/s until the user puts a jumper on J8, the LED_SPARE (YELLOW) toggles until the user puts a jumper on J8 | GoUntil (ACT, DIR, SPD) 42. Motor stops 43. The LED_SPARE (YELLOW) is switched off. 44. Wait until not busy - busy pin test (L6472 pin 22). 45. Motor moves by 50,000 steps reverse | Move (DIR, N_STEP) 46. Motor moves to the position saved by the GoUntil command into the MARK register, so 50000 steps forward | GoMark 47. Wait until not busy - busy pin test (L6472 pin 22). 48. Nothing happens during a few seconds. Release SW example 49. Motor motion in a reverse direction at minimum speed until the user removes the jumper on J8, the LED_SPARE (YELLOW) toggles until the user removes the jumper on J8 | ReleaseSW (ACT, DIR) 50. The LED_SPARE (YELLOW) is switched off. 51. Motor moves by 100,000 steps forward | Move (DIR, N_STEP) 52. Wait until not busy - busy pin test (L6472 pin 22). 53. Motor goes to home position set by the “ReleaseSW” command | GoHome 54. Wait until not busy - busy pin test (L6472 pin 22). Step clock mode example 55. “Get Status” to clear FLAG due to switch turn-on event (falling edge on the SW pin) | GetStatus 56. Motor runs in the step clock mode at 2000 steps/s in a forward direction for a few seconds while a 2 kHz clock signal from the MCU is applied to the L6472 STCK pin (25) | StepClock (DIR) 57. The above cited clock is stopped. Buttons interrupt example 58. Buttons interrupt configuration: a) Button_A - Starts the motor at quarter of max. speed if it is stopped | Run (DIR, SPD) - Doubles the motor speed if it is already running | Run (DIR, SPD) b) Button_B - Disables the power bridges after a smooth stop if the motor is running at minimum speed | SoftHiZ - Halves the motor speed if the motor is running above minimum speed | Run (DIR, SPD). DocID025487 Rev 2 39/42 42 General description 4.6.4 UM1692 Create a project using the FW library package Using your preferred IDE, create a new project. In project options, properties or settings  Select for the device, the ST STM32F105xB.  Use the CMSIS library. Edit the preprocessor defined symbols and add:  STM32F10X_CL  USE_STDPERIPH_DRIVER  ST_DSPIN_L6472H_DISCOVERY Edit the preprocessor including directories and add:  $PROJ_DIR$\…\…\…\…\…\…\stm32f10x\CMSIS\CM3\DeviceSupport\ST\STM32F10x  $PROJ_DIR$\…\…\…\…\…\…\stm32f10x\STM32F10x_StdPeriph_Driver\inc  $PROJ_DIR$\…\…\…\…\…\dspin\inc Where $PROJ_DIR$ is a variable containing the path to the project directory. Add the required library source files:  startup_stm32f10x_cl.s  system_stm32f10x.c  misc.c  stm32f10x_exti.c  stm32f10x_flash.c  stm32f10x_gpio.c  stm32f10x_rcc.c  stm32f10x_spi.c  stm32f10x_tim.c For the debugger, for example, select the ST-LINK and configure it to run to main, to verify download, to use the Flash loader and to override the default *.board file with the FlashSTM32F105xB.board. 40/42 DocID025487 Rev 2 UM1692 5 References References This user manual provides information on the hardware features and use of the EVAL6472H-DISC board along with the demonstration firmware and software. For additional information, refer to the following: 6 1. STM32F105xx/STM32F107xx datasheet (CD00220364) 2. STM32F101xx, STM32F102xx, STM32F103xx, STM32F105xx and STM32F107xx advanced ARM®-based 32-bit MCUs reference manual (RM0008). Revision history Table 4. Document revision history Date Revision 12-Dec-2013 1 Initial release. 2 Updated Section : Introduction on page 1, Table 2 on page 9 and Section 4.2.1 on page 13 (replaced “L6472H” by “L6472”). Removed Figure 5. Layout (silk screen) from page 9. Replaced “dSPIN” by “L6472” and/or “motor” in the whole document. Updated Table 3 on page 13 (minor modifications). Updated Section 4.5 on page 24 (replaced “FWPSPIN” by “FWGUI”, removed “dSPIN” and web link). Updated text above Figure 23 on page 29 (removed L6470 device step). Updated Section 4.5.2 on page 33 and Section 4.6.2 on page 35 ( (removed L6470 device/board). Updated Section 4.6.4 on page 40 (replaced “L6470H” by “6472H”). Updated 20. in Section : Various application commands examples on page 38 (minor modifications). Updated 1. and 2. in Section 5 on page 41. Minor modifications throughout document. 17-Apr-2015 Changes DocID025487 Rev 2 41/42 42 UM1692 IMPORTANT NOTICE – PLEASE READ CAREFULLY STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, enhancements, modifications, and improvements to ST products and/or to this document at any time without notice. Purchasers should obtain the latest relevant information on ST products before placing orders. ST products are sold pursuant to ST’s terms and conditions of sale in place at the time of order acknowledgement. Purchasers are solely responsible for the choice, selection, and use of ST products and ST assumes no liability for application assistance or the design of Purchasers’ products. No license, express or implied, to any intellectual property right is granted by ST herein. Resale of ST products with provisions different from the information set forth herein shall void any warranty granted by ST for such product. ST and the ST logo are trademarks of ST. All other product or service names are the property of their respective owners. Information in this document supersedes and replaces information previously supplied in any prior versions of this document. © 2015 STMicroelectronics – All rights reserved 42/42 DocID025487 Rev 2