Freescale Semiconductor M68HC08 series User manual

MOTOROLA.COM/SEMICONDUCTORS
M68HC08
Microcontrollers
DRM047
Rev. 0, 12/2003
Designer Reference
Manual
LIN-bus HID Lamp
Levelling Stepper
Motor Control Using
Motorola 908E625
Reference Design
Freescale Semiconductor, I
Freescale Semiconductor, Inc.
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Go to: www.freescale.com
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Freescale Semiconductor, I
Freescale Semiconductor, Inc.
For More Information On This Product,
Go to: www.freescale.com
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DRM047 — Rev 0 Designer Reference Manual
MOTOROLA 1
LIN-bus HID Lamp Levelling
Stepper Motor Control Using
Motorola 908E625 Reference
Design
Designer Reference Manual — Rev 0
by: Libor Prokop, Petr Cholasta
MCSL, Rosnov
• Motorola and the Motorola logo are registered trademarks of
Motorola, Inc.
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of Metrowerks, Inc., a wholly owned subsidiary of Motorola, Inc.
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wholly owned subsidiary of Motorola, Inc.
• Microsoft®is a registered trademark of Microsoft Corporation in
the U.S. and other countries
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Freescale Semiconductor, Inc.
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Designer Reference Manual DRM047 — Rev 0
2MOTOROLA
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DRM047 — Rev 0 Designer Reference Manual
MOTOROLA 5
Designer Reference Manual — DRM047
Table of Contents
Section 1. Introduction
1.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
1.2 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
1.3 HID Headlamp Levelling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
1.4 LIN-bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
1.5 Definitions and Acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
Section 2. System Concept
2.1 System Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
2.2 LIN Stepper Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
2.3 LIN Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
2.4 Personal Computer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
Section 3. Hardware Description
3.1 Master Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
3.2 Slave Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Section 4. Messaging Scheme Description
4.1 Axis and Signal Providers and Acceptors. . . . . . . . . . . . . . . . .35
4.2 LIN Leveller Basic Messaging . . . . . . . . . . . . . . . . . . . . . . . . .36
4.3 LIN Leveller Configuration Messaging . . . . . . . . . . . . . . . . . . .37
Section 5. LIN Master Software Description
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Designer Reference Manual DRM047 — Rev 0
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5.1 State Machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
5.2 Data Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
Section 6. LIN Stepper Software Description
6.1 LIN Stepper Software Data Flow . . . . . . . . . . . . . . . . . . . . . . .51
6.2 LIN Stepper Software Application State Diagram. . . . . . . . . . .62
6.3 LIN Stepper Software Implementation . . . . . . . . . . . . . . . . . . .65
Section 7. User Interface Description
7.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
7.2 PC Master Software General Overview . . . . . . . . . . . . . . . . . .71
7.3 LIN-bus Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
7.4 Slave Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
7.5 Recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77
7.6 Oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78
7.7 Programming and Configuration. . . . . . . . . . . . . . . . . . . . . . . .83
Section 8. Conclusion
Section 9. References
Appendix A. Hardware Schematics
A.1 LIN Master Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . . .93
A.2 LIN Stepper Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . .94
Appendix B. 908E625 Advantages and Features
Appendix C. LIN Frames and Signals
C.1 LIN Leveller Basic Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . .97
C.2 Node ID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100
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DRM047 — Rev 0 Designer Reference Manual
MOTOROLA 7
C.3 LIN Leveller Configuration Frames . . . . . . . . . . . . . . . . . . . . .101
C.4 Possible Software Extension Programming via LIN . . . . . . . .108
Appendix D. LIN Stepper Software Data Variables
Appendix E. System Setup
E.1 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115
E.2 Jumper Settings of Master and Slave Boards . . . . . . . . . . . .117
E.3 Required Software Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . .118
E.4 Building and Uploading the Application . . . . . . . . . . . . . . . . .118
E.5 Executing the LIN HID Demo Application . . . . . . . . . . . . . . . .120
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Designer Reference Manual DRM047 — Rev 0
8MOTOROLA
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DRM047 — Rev 0 Designer Reference Manual
MOTOROLA 9
Designer Reference Manual — DRM047
List of Figures
Figure Title Page
1-1 System Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
2-1 System Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
2-2 PC Master Software Principle. . . . . . . . . . . . . . . . . . . . . . . . . .25
3-1 Master Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
3-2 Master Board Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
3-3 LIN Stepper (Slave) Board . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
3-4 LIN Stepper Controller (Slave) Board Schematic . . . . . . . . . . .30
3-5 908E625 Blocks Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
5-1 Software State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
5-2 PC Master Mode Data Flow Chart - Part1 . . . . . . . . . . . . . . . .44
5-3 PC Master Mode Data Flow Chart - Part2 . . . . . . . . . . . . . . . .46
5-4 Master Mode Data Flow Chart . . . . . . . . . . . . . . . . . . . . . . . . .47
5-5 Debug Mode Data Flow Chart . . . . . . . . . . . . . . . . . . . . . . . . .49
5-6 Pass Mode Data Flow Chart. . . . . . . . . . . . . . . . . . . . . . . . . . .50
6-1 LIN Stepper Software - Data Flow 1 . . . . . . . . . . . . . . . . . . . . .53
6-2 Motor Position and Speed Control - Service
Updated Requests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
6-3 Motor Position and Speed Control - Service
Updated Actual Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
6-4 Frequency Acceleration and Deceleration - Flow Chart . . . . . .58
6-5 LIN Stepper Software - Data Flow 2 - Configuration . . . . . . . .61
6-6 LIN Stepper Software Application State Diagram. . . . . . . . . . .63
7-1 PC Master Software Main Page . . . . . . . . . . . . . . . . . . . . . . . .72
7-2 LIN-bus Control Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
7-3 Recorder Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78
7-4 Oscilloscope Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
7-5 Programming and Configuration Page . . . . . . . . . . . . . . . . . . .84
8-1 Slow-Fast Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
8-2 Low-High (Amplitude) Signal . . . . . . . . . . . . . . . . . . . . . . . . . .88
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Designer Reference Manual DRM047 — Rev 0
10 MOTOROLA
8-3 Road1 Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
A-1 LIN Master Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . . .93
A-2 LIN Enhanced Stepper Board Schematic . . . . . . . . . . . . . . . . .94
B-1 908E625 Simplified Block Diagram . . . . . . . . . . . . . . . . . . . . .95
C-1 Configuration Parameters Addressing . . . . . . . . . . . . . . . . . .108
E-1 LIN HID Demo Application . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
E-2 Programming and Debugging Application - Detail . . . . . . . . .117
E-3 Metrowerks Compiler with lin_stepper.mcp . . . . . . . . . . . . . .119
E-4 Bootloader Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120
E-5 Communication Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121
E-6 Variables Source page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122
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