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https://github.com/eddyem/stm32samples.git
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225 lines
16 KiB
Markdown
225 lines
16 KiB
Markdown
Management of 8 independend steppers
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Eighth stepper could be changed to 8 dependent multiplexed. Based on STM32F303VDT6.
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# Pinout
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(all GPIO outs are push-pull if not mentioned another)
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### Sorted by pin number
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|**Pin #**|**Pin name **| **function**| **settings** |**comment ** |
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|---------|-------------|-------------|---------------|---------------------|
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| 1 | PE2 | DIAG | in | `diag` output of TMC|
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| 2 | PE3 | MUL0 | slow out | multiplexer address |
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| 3 | PE4 | MUL1 | slow out | for DIAG input |
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| 4 | PE5 | MUL2 | slow out | |
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| 5 | PE6 | MUL EN | slow out | enable mul. |
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| 6 | (vbat) | - | - | |
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| 7 | PC13 | M0 L1 | slow in PU/out| enable motor |
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| 8 | PC14 | M0 L0 | slow in PU | direction of motor |
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| 9 | PC15 | M0 DIR | slow out | limit-switch 0 |
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| 10 | PF9 | M0 STEP | AF | clock of motor |
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| 11 | PF10 | M0 EN | slow out | l-s 0 or CS of SPI |
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| 12 | (OSC IN) | | | |
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| 13 | (OSC OUT) | | | |
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| 14 | (nrst) | | | reset |
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| 15 | PC0 | MOTMUL0 | slow out | external motors |
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| 16 | PC1 | MOTMUL1 | slow out | multiplexer |
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| 17 | PC2 | MOTMUL2 | slow out | |
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| 18 | PC3 | MOTMUL EN | slow out | |
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| 19 | PF2 | ADC2 in10 | ADC | 5V in / 2 |
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| 20 | (VSSA) | | | |
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| 21 | (VREF+) | | | |
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| 22 | (VDDA) | | | |
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| 23 | PA0 | ADC1 in1 | ADC | External ADC inputs |
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| 24 | PA1 | ADC1 in2 | ADC | |
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| 25 | PA2 | ADC1 in3 | ADC | |
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| 26 | PA3 | ADC1 in4 | ADC | |
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| 27 | (VSS) | | | |
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| 28 | (VDD) | | | |
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| 29 | PA4 | ADC2 in1 | ADC | Vdrive / 10 |
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| 30 | PA5 | SPI1 SCK | AF | In case of SPI TMC |
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| 31 | PA6 | SPI1 MISO | AF | |
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| 32 | PA7 | SPI1 MOSI | AF | |
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| 33 | PC4 | USART1 Tx | AF | External USART |
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| 34 | PC5 | USART1 Rx | AF | |
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| 35 | PB0 | M7 STEP | AF | |
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| 36 | PB1 | M7 EN | slow out | |
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| 37 | PB2 | M7 DIR | slow out | |
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| 38 | PE7 | M7 L0 | slow in PU | |
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| 39 | PE8 | M7 L1 | slow in PU/out| |
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| 40 | PE9 | M6 STEP | AF | |
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| 41 | PE10 | M6 L1 | slow in PU/out| |
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| 42 | PE11 | M6 L0 | slow in PU | |
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| 43 | PE12 | M6 DIR | slow out | |
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| 44 | PE13 | M6 EN | slow out | |
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| 45 | PE14 | OUT2 | slow in PU/out| external GPIO |
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| 46 | PE15 | OUT1 | slow in PU/out| |
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| 47 | PB10 | USART3 Tx | AF | USART for 4 of TMC |
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| 48 | PB11 | OUT0 | slow in PU/out| |
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| 49 | (VSS) | | | |
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| 50 | (VDD) | | | |
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| 51 | PB12 | SCRN DCRS | slow out | screen commands |
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| 52 | PB13 | SCRN SCK | AF | SPI for screen |
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| 53 | PB14 | SCRN MISO | AF | |
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| 54 | PB15 | SCRN MOSI | AF | |
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| 55 | PD8 | SCRN RST | slow out | reset screen |
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| 56 | PD9 | SCRN CS | slow out | activate screen |
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| 57 | PD10 | M5 L1 | slow in PU/out| |
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| 58 | PD11 | M5 L0 | slow in PU | |
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| 59 | PD12 | M5 STEP | AF | |
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| 60 | PD13 | M5 DIR | slow out | |
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| 61 | PD14 | M5 EN | slow out | |
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| 62 | PD15 | M4 L1 | slow in PU/out| |
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| 63 | PC6 | M4 STEP | AF | |
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| 64 | PC7 | M4 L0 | slow in PU | |
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| 65 | PC8 | M4 DIR | slow out | |
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| 66 | PC9 | M4 EN | slow out | |
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| 67 | PA8 | USBpu | slow out PP | USB DP pullup |
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| 68 | PA9 | BTN1 | slow in PU | buttons to operate |
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| 69 | PA10 | BTN2 (SDA) | slow in PU/AF | with screen |
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| 70 | PA11 | USB DM | AF | USB |
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| 71 | PA12 | USB DP | AF | |
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| 72 | PA13 | SWDIO | dflt | dbg/flash |
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| 73 | PF6 | BTN3 (SCL) | slow in PU/AF | (possible I2C2) |
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| 74 | (VSS) | | | |
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| 75 | (VDD) | | | |
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| 76 | PA14 | SWCLK | dflt | debug/sew |
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| 77 | PA15 | M3 STEP | AF | |
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| 78 | PC10 | M3 L0 | slow in PU | |
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| 79 | PC11 | M3 L1 | slow in PU/out| |
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| 80 | PC12 | M3 DIR | slow out | |
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| 81 | PD0 | CAN Rx | AF | CAN bus |
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| 82 | PD1 | CAN Tx | AF | |
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| 83 | PD2 | M3 EN | slow out | |
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| 84 | PD3 | BTN4 | slow in PU | |
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| 85 | PD4 | BTN5 | slow in PU | |
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| 86 | PD5 | BTN6 | slow in PU | |
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| 87 | PD6 | M2 L1 | slow in PU | |
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| 88 | PD7 | M2 L0 | slow in PU/out| |
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| 89 | PB3 | USART2 Tx | AF | USART for 4 of TMC |
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| 90 | PB4 | M2 DIR | slow out | |
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| 91 | PB5 | M2 STEP | AF | |
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| 92 | PB6 | M2 EN | slow out | |
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| 93 | PB7 | M1 L1 | slow in PU/out| |
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| 94 | (BOOT0) | | | boot mode |
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| 95 | PB8 | M1 STEP | AF | |
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| 96 | PB9 | M1 L0 | slow in PU | |
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| 97 | PE0 | M1 DIR | slow out | |
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| 98 | PE1 | M1 EN | slow out | |
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| 99 | (VSS) | | | |
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| 100 | (VDD) | | | |
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### Some comments.
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_DIAG_ input used to detect problems with TMC drivers (multiplexed by _MUL_ outputs).
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Each motor have next control signals: _EN_ - enable driver, _DIR_ - rotation direction, _STEP_ - microstepping clock signal, _L0_ - zero end-switch, _L1_ - max end-switch (or Cable Select for SPI-based TMC).
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_MOTMUL_ - external multiplexer or other GPIO signals (e.g. to manage of 64 stepper motors).
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_ADC1 in_ - four external ADC signals (0..3.3V).
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_SPI1_ used to manage TMC drivers in case of SPI-based.
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_USART1_ - to connect external something (master or slave).
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_OUT_ - external GPIO.
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_USART2 Tx_ used to manage USART-based TMC (numbers 0-3).
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_USART3 Tx_ used to manage USART-based TMC (numbers 4-7).
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_SCRN_ - control signals for SPI TFT screen.
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_BTN_ - external button, keypad, joystick etc. Two of them could be connected to I2C devices.
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_USB_ and _CAN_ used as main device control buses.
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_SW_ used as debugging/sewing; also (I remember about USB pullup only after end of PCB design) _SWDIO_ used as USB pullup (so the device have no USB in debug mode - when BTN0 and BTN1 are pressed at start).
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### Sorted by ports (with AF numbers).
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|**Pin #**|**Pin name **| **function**| **settings** |**comment ** |
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|---------|-------------|-------------|---------------|---------------------|
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| 23 | PA0 | ADC1 in1 | ADC | External ADC inputs |
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| 24 | PA1 | ADC1 in2 | ADC | |
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| 25 | PA2 | ADC1 in3 | ADC | |
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| 26 | PA3 | ADC1 in4 | ADC | |
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| 29 | PA4 | ADC2 in1 | ADC | Vdrive / 10 |
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| 30 | PA5 | SPI1 SCK | AF5 | In case of SPI TMC |
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| 31 | PA6 | SPI1 MISO | AF5 | |
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| 32 | PA7 | SPI1 MOSI | AF5 | |
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| 67 | PA8 | BTN0 | slow in PU | Buttons/joystick |
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| 68 | PA9 | BTN1 | slow in PU | to operate with |
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| 69 | PA10 | BTN2 (SDA) | slow in PU/AF4| screen |
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| 70 | PA11 | USB DM | USB | USB |
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| 71 | PA12 | USB DP | USB | |
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| 72 | PA13 | SWDIO/USBpu | dflt/slow out | USB pullup or dbg |
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| 76 | PA14 | SWCLK | dflt | debug/sew |
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| 77 | PA15 | M3 STEP | AF1 (T2ch1) | |
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| 35 | PB0 | M7 STEP | AF2 (T3ch3) | |
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| 36 | PB1 | M7 EN | slow out | |
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| 37 | PB2 | M7 DIR | slow out | |
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| 89 | PB3 | USART2 Tx | AF7 | USART for 4 of TMC |
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| 90 | PB4 | M2 DIR | slow out | |
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| 91 | PB5 | M2 STEP | AF10 (T17ch1) | |
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| 92 | PB6 | M2 EN | slow out | |
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| 93 | PB7 | M1 L1 | slow in PU/out| |
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| 95 | PB8 | M1 STEP | AF1 (T16ch1) | |
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| 96 | PB9 | M1 L0 | slow in PU | |
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| 47 | PB10 | USART3 Tx | AF7 | USART for 4 of TMC |
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| 48 | PB11 | OUT0 | slow in PU/out| |
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| 51 | PB12 | SCRN DCRS | slow out | screen commands |
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| 52 | PB13 | SCRN SCK | AF5 | SPI for screen |
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| 53 | PB14 | SCRN MISO | AF5 | |
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| 54 | PB15 | SCRN MOSI | AF5 | |
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| 15 | PC0 | MOTMUL0 | slow out | external motors |
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| 16 | PC1 | MOTMUL1 | slow out | multiplexer |
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| 17 | PC2 | MOTMUL2 | slow out | |
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| 18 | PC3 | MOTMUL EN | slow out | |
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| 33 | PC4 | USART1 Tx | AF7 | External USART |
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| 34 | PC5 | USART1 Rx | AF7 | |
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| 63 | PC6 | M4 STEP | AF4 (T8ch1) | |
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| 64 | PC7 | M4 L0 | slow in PU | |
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| 65 | PC8 | M4 DIR | slow out | |
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| 66 | PC9 | M4 EN | slow out | |
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| 78 | PC10 | M3 L0 | slow in PU | |
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| 79 | PC11 | M3 L1 | slow in PU/out| |
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| 80 | PC12 | M3 DIR | slow out | |
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| 7 | PC13 | M0 L1 | slow in PU/out| enable motor |
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| 8 | PC14 | M0 L0 | slow in PU | direction of motor |
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| 9 | PC15 | M0 DIR | slow out | limit-switch 0 |
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| 81 | PD0 | CAN Rx | AF7 | CAN bus |
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| 82 | PD1 | CAN Tx | AF7 | |
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| 83 | PD2 | M3 EN | slow out | |
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| 84 | PD3 | BTN4 | slow in PU | |
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| 85 | PD4 | BTN5 | slow in PU | |
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| 86 | PD5 | BTN6 | slow in PU | |
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| 87 | PD6 | M2 L1 | slow in PU | |
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| 88 | PD7 | M2 L0 | slow in PU/out| |
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| 55 | PD8 | SCRN RST | slow out | reset screen |
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| 56 | PD9 | SCRN CS | slow out | activate screen |
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| 57 | PD10 | M5 L1 | slow in PU/out| |
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| 58 | PD11 | M5 L0 | slow in PU | |
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| 59 | PD12 | M5 STEP | AF2 (T4ch1) | |
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| 60 | PD13 | M5 DIR | slow out | |
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| 61 | PD14 | M5 EN | slow out | |
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| 62 | PD15 | M4 L1 | slow in PU/out| |
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| 97 | PE0 | M1 DIR | slow out | |
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| 98 | PE1 | M1 EN | slow out | |
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| 1 | PE2 | DIAG | slow in PU | `diag` output of TMC|
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| 2 | PE3 | MUL0 | slow out | multiplexer address |
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| 3 | PE4 | MUL1 | slow out | for DIAG input |
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| 4 | PE5 | MUL2 | slow out | |
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| 5 | PE6 | MUL EN | slow out | enable mul. |
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| 38 | PE7 | M7 L0 | slow in PU | |
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| 39 | PE8 | M7 L1 | slow in PU/out| |
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| 40 | PE9 | M6 STEP | AF2 (T1ch1) | |
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| 41 | PE10 | M6 L1 | slow in PU/out| |
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| 42 | PE11 | M6 L0 | slow in PU | |
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| 43 | PE12 | M6 DIR | slow out | |
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| 44 | PE13 | M6 EN | slow out | |
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| 45 | PE14 | OUT2 | slow in PU/out| external GPIO |
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| 46 | PE15 | OUT1 | slow in PU/out| |
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| 19 | PF2 | ADC2 in10 | ADC | 5V in / 2 |
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| 73 | PF6 | BTN3 (SCL) | slow in PU/AF4| (possible I2C2) |
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| 10 | PF9 | M0 STEP | AF3 (T15ch1) | clock of motor |
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| 11 | PF10 | M0 EN | slow out | l-s 0 or CS of SPI |
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## DMA usage
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* ADC1 - DMA1_ch1
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* ADC2 - DMA2_ch1
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