stm32samples/F3:F303/Multistepper/Readme.md

Management of 8 independend steppers

Eighth stepper could be changed to 8 dependent multiplexed. Based on STM32F303VDT6.

Pinout

(all GPIO outs are push-pull if not mentioned another)

Sorted by pin number

Pin #	Pin name	function	settings	comment
1	PE2	DIAG	in	diag output of TMC
2	PE3	MUL0	slow out	multiplexer address
3	PE4	MUL1	slow out	for DIAG input
4	PE5	MUL2	slow out
5	PE6	MUL EN	slow out	enable mul.
6	(vbat)	-	-
7	PC13	M0 L1	slow in PU/out	enable motor
8	PC14	M0 L0	slow in PU	direction of motor
9	PC15	M0 DIR	slow out	limit-switch 0
10	PF9	M0 STEP	AF	clock of motor
11	PF10	M0 EN	slow out	l-s 0 or CS of SPI
12	(OSC IN)
13	(OSC OUT)
14	(nrst)			reset
15	PC0	MOTMUL0	slow out	external motors
16	PC1	MOTMUL1	slow out	multiplexer
17	PC2	MOTMUL2	slow out
18	PC3	MOTMUL EN	slow out
19	PF2	ADC2 in10	ADC	5V in / 2
20	(VSSA)
21	(VREF+)
22	(VDDA)
23	PA0	ADC1 in1	ADC	External ADC inputs
24	PA1	ADC1 in2	ADC
25	PA2	ADC1 in3	ADC
26	PA3	ADC1 in4	ADC
27	(VSS)
28	(VDD)
29	PA4	ADC2 in1	ADC	Vdrive / 10
30	PA5	SPI1 SCK	AF	In case of SPI TMC
31	PA6	SPI1 MISO	AF
32	PA7	SPI1 MOSI	AF
33	PC4	USART1 Tx	AF	External USART
34	PC5	USART1 Rx	AF
35	PB0	M7 STEP	AF
36	PB1	M7 EN	slow out
37	PB2	M7 DIR	slow out
38	PE7	M7 L0	slow in PU
39	PE8	M7 L1	slow in PU/out
40	PE9	M6 STEP	AF
41	PE10	M6 L1	slow in PU/out
42	PE11	M6 L0	slow in PU
43	PE12	M6 DIR	slow out
44	PE13	M6 EN	slow out
45	PE14	OUT2	slow in PU/out	external GPIO
46	PE15	OUT1	slow in PU/out
47	PB10	USART3 Tx	AF	USART for 4 of TMC
48	PB11	OUT0	slow in PU/out
49	(VSS)
50	(VDD)
51	PB12	SCRN DCRS	slow out	screen commands
52	PB13	SCRN SCK	AF	SPI for screen
53	PB14	SCRN MISO	AF
54	PB15	SCRN MOSI	AF
55	PD8	SCRN RST	slow out	reset screen
56	PD9	SCRN CS	slow out	activate screen
57	PD10	M5 L1	slow in PU/out
58	PD11	M5 L0	slow in PU
59	PD12	M5 STEP	AF
60	PD13	M5 DIR	slow out
61	PD14	M5 EN	slow out
62	PD15	M4 L1	slow in PU/out
63	PC6	M4 STEP	AF
64	PC7	M4 L0	slow in PU
65	PC8	M4 DIR	slow out
66	PC9	M4 EN	slow out
67	PA8	USBpu	slow out PP	USB DP pullup
68	PA9	BTN1	slow in PU	buttons to operate
69	PA10	BTN2 (SDA)	slow in PU/AF	with screen
70	PA11	USB DM	AF	USB
71	PA12	USB DP	AF
72	PA13	SWDIO	dflt	dbg/flash
73	PF6	BTN3 (SCL)	slow in PU/AF	(possible I2C2)
74	(VSS)
75	(VDD)
76	PA14	SWCLK	dflt	debug/sew
77	PA15	M3 STEP	AF
78	PC10	M3 L0	slow in PU
79	PC11	M3 L1	slow in PU/out
80	PC12	M3 DIR	slow out
81	PD0	CAN Rx	AF	CAN bus
82	PD1	CAN Tx	AF
83	PD2	M3 EN	slow out
84	PD3	BTN4	slow in PU
85	PD4	BTN5	slow in PU
86	PD5	BTN6	slow in PU
87	PD6	M2 L1	slow in PU
88	PD7	M2 L0	slow in PU/out
89	PB3	USART2 Tx	AF	USART for 4 of TMC
90	PB4	M2 DIR	slow out
91	PB5	M2 STEP	AF
92	PB6	M2 EN	slow out
93	PB7	M1 L1	slow in PU/out
94	(BOOT0)			boot mode
95	PB8	M1 STEP	AF
96	PB9	M1 L0	slow in PU
97	PE0	M1 DIR	slow out
98	PE1	M1 EN	slow out
99	(VSS)
100	(VDD)

Some comments.

DIAG input used to detect problems with TMC drivers (multiplexed by MUL outputs).

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).

MOTMUL - external multiplexer or other GPIO signals (e.g. to manage of 64 stepper motors).

ADC1 in - four external ADC signals (0..3.3V).

SPI1 used to manage TMC drivers in case of SPI-based.

USART1 - to connect external something (master or slave).

OUT - external GPIO.

USART2 Tx used to manage USART-based TMC (numbers 0-3).

USART3 Tx used to manage USART-based TMC (numbers 4-7).

SCRN - control signals for SPI TFT screen.

BTN - external button, keypad, joystick etc. Two of them could be connected to I2C devices.

USB and CAN used as main device control buses.

SW used as debugging/flashing.

Sorted by ports (with AF numbers).

Pin #	Pin name	function	settings	comment
23	PA0	ADC1 in1	ADC	External ADC inputs
24	PA1	ADC1 in2	ADC
25	PA2	ADC1 in3	ADC
26	PA3	ADC1 in4	ADC
29	PA4	ADC2 in1	ADC	Vdrive / 10
30	PA5	SPI1 SCK	AF5	In case of SPI TMC
31	PA6	SPI1 MISO	AF5
32	PA7	SPI1 MOSI	AF5
67	PA8	BTN0	slow in PU	Buttons/joystick
68	PA9	BTN1	slow in PU	to operate with
69	PA10	BTN2 (SDA)	slow in PU/AF4	screen
70	PA11	USB DM	USB	USB
71	PA12	USB DP	USB
72	PA13	SWDIO/USBpu	dflt/slow out	USB pullup or dbg
76	PA14	SWCLK	dflt	debug/sew
77	PA15	M3 STEP	AF1 (T2ch1)
35	PB0	M7 STEP	AF2 (T3ch3)
36	PB1	M7 EN	slow out
37	PB2	M7 DIR	slow out
89	PB3	USART2 Tx	AF7	USART for 4 of TMC
90	PB4	M2 DIR	slow out
91	PB5	M2 STEP	AF10 (T17ch1)
92	PB6	M2 EN	slow out
93	PB7	M1 L1	slow in PU/out
95	PB8	M1 STEP	AF1 (T16ch1)
96	PB9	M1 L0	slow in PU
47	PB10	USART3 Tx	AF7	USART for 4 of TMC
48	PB11	OUT0	slow in PU/out
51	PB12	SCRN DCRS	slow out	screen commands
52	PB13	SCRN SCK	AF5	SPI for screen
53	PB14	SCRN MISO	AF5
54	PB15	SCRN MOSI	AF5
15	PC0	MOTMUL0	slow out	external motors
16	PC1	MOTMUL1	slow out	multiplexer
17	PC2	MOTMUL2	slow out
18	PC3	MOTMUL EN	slow out
33	PC4	USART1 Tx	AF7	External USART
34	PC5	USART1 Rx	AF7
63	PC6	M4 STEP	AF4 (T8ch1)
64	PC7	M4 L0	slow in PU
65	PC8	M4 DIR	slow out
66	PC9	M4 EN	slow out
78	PC10	M3 L0	slow in PU
79	PC11	M3 L1	slow in PU/out
80	PC12	M3 DIR	slow out
7	PC13	M0 L1	slow in PU/out	enable motor
8	PC14	M0 L0	slow in PU	direction of motor
9	PC15	M0 DIR	slow out	limit-switch 0
81	PD0	CAN Rx	AF7	CAN bus
82	PD1	CAN Tx	AF7
83	PD2	M3 EN	slow out
84	PD3	BTN4	slow in PU
85	PD4	BTN5	slow in PU
86	PD5	BTN6	slow in PU
87	PD6	M2 L1	slow in PU
88	PD7	M2 L0	slow in PU/out
55	PD8	SCRN RST	slow out	reset screen
56	PD9	SCRN CS	slow out	activate screen
57	PD10	M5 L1	slow in PU/out
58	PD11	M5 L0	slow in PU
59	PD12	M5 STEP	AF2 (T4ch1)
60	PD13	M5 DIR	slow out
61	PD14	M5 EN	slow out
62	PD15	M4 L1	slow in PU/out
97	PE0	M1 DIR	slow out
98	PE1	M1 EN	slow out
1	PE2	DIAG	slow in PU	diag output of TMC
2	PE3	MUL0	slow out	multiplexer address
3	PE4	MUL1	slow out	for DIAG input
4	PE5	MUL2	slow out
5	PE6	MUL EN	slow out	enable mul.
38	PE7	M7 L0	slow in PU
39	PE8	M7 L1	slow in PU/out
40	PE9	M6 STEP	AF2 (T1ch1)
41	PE10	M6 L1	slow in PU/out
42	PE11	M6 L0	slow in PU
43	PE12	M6 DIR	slow out
44	PE13	M6 EN	slow out
45	PE14	OUT2	slow in PU/out	external GPIO
46	PE15	OUT1	slow in PU/out
19	PF2	ADC2 in10	ADC	5V in / 2
73	PF6	BTN3 (SCL)	slow in PU/AF4	(possible I2C2)
10	PF9	M0 STEP	AF3 (T15ch1)	clock of motor
11	PF10	M0 EN	slow out	l-s 0 or CS of SPI

DMA usage

• ADC1 - DMA1_ch1
• ADC2 - DMA2_ch1

Stepper drivers connection

After changing stepper type by soldering/desoldering appropriate jumpers, don't forget to change their types in settings (and save settings in MSU flash memory after checking it with dumpconf).

Connection diagram for soldering jumpers shown on reverse side of PCB.

Jumpers A, B and C allow to short the contacts of driver's pins 6 (CLK / DCO / ~SLEEP), 5 (PDN_UART / SDO / ~RESET) and 4 (SPREAD / CS / M2), respectively.

Jumper D1 connects MCU UART output with jumper E1, D2 connects MCU MISO with same contact of E1. Jumpers E1 and E2 allows to pullup pin 5 of driver to be connected with 3.3V or UART/MISO.

Jumper F1 allows to connect pin 4 to CS line. F2 connects pin 4 to 3.3V.

Jumper G1 connects pin 3 (MS2 / SCK / M1) to SCK line. G2 connects this pin to 3.3V.

Jumper H1 connects pin pin 2 (MS1 / SDI / M0) to MOSI line H2 connects it to 3.3V.

So, depending on driver type and its mode you can solder these jumpers so, than driver can work over PDN-UART, SPI or configuration pins can select microstepping directly.

DRV8825 and other simplest drivers

Solder jumpers E2, B and A to connect ~RST and ~SLP to 3.3V.

Microstepping selection produced by soldering H2 (bit0), G2 (bit1) and/or C (bit2).

TMC2209 and other PDN-UART based

Solder jumpers D1 and E1 to connect MCU UART2/UART3 to PDN-UART pin of driver. Solder jumpers G2/H2 according address table (X - soldered, O - not soldered):

Address	G2	H2
0	O	O
1	O	X
2	X	O
3	X	X
4	O	O
5	O	X
6	X	O
7	X	X

TMC2130 and other SPI based

(not negotiated yet)

Solder jumpers D2 and E1 to connect MISO, F1 to connect CS, G1 for SCK and H1 for MOSI.

Protocol

Errors

Error codes are in brackets:

• OK (0) - all OK;
• BADPAR (1) - bad parameter (N) value (e.g. greater than max available or absent);
• BADVAL (2) - bad setter value (absent, text or over range);
• WRONGLEN (3) - (only for CAN bus, you can't meet in text protocol) wrong CAN message length;
• BADCMD (4) - unknown command, in case of USB proto user will see full command list instead of this error;
• CANTRUN (5) - can't run required function.

USB

Used simple text protocol each string should contain one command and ends with '\n'. Uppercase N at the end of command means parameter number (No of motor, button, ADC channel etc). Getters and action commands have simplest format command[N]: some commands have no parameter, other have two variants - with and without parameter; wariant without parameter will act on all parameters (e.g. getter for all buttons) - in this case N enclosed in square brackets. Setters have format command[N] = value. The value is integer number, so in case floating values you need to multiply it by 1000 and write result. So, voltage and temperature are measured in millivolts and thousandths of degC respectively.

Some commands (especially that have no CAN analogue) have non-standard format described later. They are not intended to be used in automatic control systems, only in manual mode.

Answer for every (excluding special) setter and getter in case of success is command[N]=value showing current value for getter or new value for setter. In case of error you will see one of error mesages (message OK with errcode=0 usually not shown). Also you can get such answers:

• BADCMD - wrong command (not in dictionary);
• BADARGS - bad arguments format (e.g. for command cansend etc);
• FAIL - if something wrong and parser got impermissible error code.

In following list letter G means "getter", S - "setter", no of them - custom USB-only command. The number in brackets is CAN command code. The asterisk following command means that it isn't implemented yet (and maybe will be never implemented).

absposN (35) GS

Absolute stepper position in steps, setter just changes current value. E.g. you want to set current position as zero (be carefull: gotoz will zero position again on a zero-point limit switch). Maximum absolute value is maxstepsN.

accelN (17) GS

Stepper acceleration/deceleration on ramp (steps/s^2), only positive. Maximum value is ACCELMAXSTEPS from flash.h.

adcN (4) G

ADC value (N=0..3).

buttonN (5) G

Given (N=0..6) buttons' state. If number is right, returns two strings: buttonN=state (where state is none, press, hold or release) and buttontmN=time (where time is time from start of last event).

!!!NOTE: Button numbering starts from 0, not 1 as shown on PCB!!!

canerrcodes

Print last CAN errcodes. Print "No errors" or last error code.

canfilter DATA

CAN bus hardware filters, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]] . By default have two filters allowing to listen any CAN ID:

Filter 0, FIFO0 in MASK mode: ID=0x01, MASK=0x01
Filter 1, FIFO1 in MASK mode: ID=0x00, MASK=0x01

canflood ID DATA

Send or clear (if empty) flood message: ID byte0 ... byteN. On empy message return NO ID given, send nothing! (and stops flooding), or Message parsed OK.

canfloodT N

Flood period, N in milliseconds (N >= 0ms).

canid [ID]

Get or set CAN ID of device. Default CAN ID is "1".

canignore [ID]

Software ignore list (max 10 IDs), negative to delete all, non-negative to add next.

canincrflood ID

Send incremental flood message with given ID. Message have uint32_t little endian type and increments for each packet starting from 0. Empty command stops flooding (canflood too).

canpause

Pause filtered IN packets displaying. Returns Pause CAN messages.

canreinit

Reinit CAN with last settings. Returns OK.

canresume

Resume filtered IN packets displaying, returns RESUME CAN messages.

cansend ID [data]

Send data over CAN with given ID. If data is omitted, send empty message. In case of absence of ACK you can get message CAN bus is off, try to restart it.

canspeed N

CAN bus speed (in kbps, 50 <= N <= 1500) In case of setter, store new speed value in global parameters (and if you call saveconf later, it will be saved in flash memory).

canstat

Get CAN bus status: values of registers CAN->MSR, CAN->TSR, CAN->RF0R and CAN->RF1F.

diagn[N] (37) G

DIAG state of motor N (or all, in this case motor 0 is LSB of answer etc.). One means "all OK", zero is error state.

drvtypeN (45) GS

Nth driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved). This parameter is taken from .drvtype bits of motflags settings parameter.

dumperr

Dump error codes. Returns:

Error codes:
0 - OK
1 - BADPAR
2 - BADVAL
3 - WRONGLEN
4 - BADCMD
5 - CANTRUN

dumpcmd

Dump command codes. Returns all list of CAN bus command codes.

dumpconf

Dump current configuration. Returns a lot of information both common (like CAN bus speed, ID and so on) and for each motor driver. You can call independeng getters for each of this parameter.

dumpmotN

Dump configuration of Nth motor only.

dumpmotflags

Dump motor flags' bits (for motflagsN) and reaction to limit switches (eswreact) values:

Motor flags:
bit0 - 0: reverse - invert motor's rotation
bit1 - 1: [reserved]
bit2 - 2: [reserved]
bit3 - 3: donthold - clear motor's power after stop
bit4 - 4: eswinv - inverse end-switches (1->0 instead of 0->1)
bit5 - 5: [reserved]
bit6 - 6,7: drvtype - driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved)
End-switches reaction:
0 - ignore end-switches
1 - stop @ esw in any moving direction
2 - stop only when moving in given direction (e.g. to minus @ESW0)

dumpstates

Dump motors' state codes (for getter stateN):

Motor's state codes:
0 - relax
1 - acceleration
2 - moving
3 - moving at lowest speed
4 - deceleration
5 - stalled (not used here!)
6 - error

emstop[N] (29)

Emergency stop Nth motor or all (if N absent). Returns OK or error text.

eraseflash [=N] (38)

Erase flash data storage (full or only N'th page of it). Use this option only if you have problems when try to save current configuration.

eswN (6) G

Get end-switches state. Return two bits (for limit switches 0 and 1): 1 means "active", 0 - "passive". If you use SPI-based driver, only one switch available, so return will be 1-bit.

eswreactN (24) GS

End-switches (limit-switches) reaction: 0 - ignore both limits; 1 - ignore ESW1, stop on ESW0 only when moving to negative direction; 2 - stop on any limit switch independently from direction; 3 - stop only on switch corresponding to moving direction (i.e. ESW0 for negative and ESW1 for positive). You can modify this values on-the-fly (but only when steppers aren't moving). This can be usefull, for example, to rotate filter turret into given position using switch 1 to both as limit switch and position stopper. But even in state 0 (ignore) active state of both switches estimates as error and you won't be able to move motor.

gotoN (26) GS

Move motor to given absolute position.

gotozN (32)

Find zero position & refresh counters. The motor would rotate in reverse direction until limit switch 0 acts or amount of steps (parameter maxsteps of configuration) is exhausted.

gpioconfN* GS

GPIO configuration (0 - PUin, 1 - PPout, 2 - ODout), N=0..2.

gpio[N] (12) GS

GPIO values, N=0..2. Without N run for all GPIOs (each bit is state: 0/1, started from LSB which is zero channel). By default GPIOs are pulled up inputs, so setters won't do any effect. To reconfigure them as outputs use gpioconf when (if) it will be available.

help

Show this help.

maxspeedN (18) GS

Maximal motor speed (steps per sec). Depends on current microstep configuration. As speed depends on Nth motor's timer settings, you can't give any value you want. Speed recalculated through ARR value:

ARR = 26MHz / microsteps / (speed - 1).

Minimal value of ARR is 99 (260kHz), maximal is 0xffff (600Hz). And after that actual speed value calculated:

speed = 26MHz / microsteps / (ARR + 1).

And it can't be greater than 0xffff. So if your motor really can make, let's say, 32000 steps per second, you can run it only for microstepping not more than 2.

maxstepsN (21) GS

Maximal steps amount (from zero ESW) for given motor. This is limiting positive position and amount of steps to make when searching of zero limit switch.

mcut (7) G

Temperature of MCU in thousandths of degC.

mcuvdd (8) G

MCU Vdd value.

microstepsN (16) GS

Microsteps settings (2^0..2^9). Read maxspeed about relationship of maximal speed and microsteppings.

minspeedN (19) GS

Minimal motor speed (steps per sec), this is the starting speed of motor's ramp and default speed for relslow command, so don't try to make it too large.

motcurrentN (46) GS

Maximal motor current (1..32 for 1/32..32/32 of max current) for TMC drivers. In case of simplest drivers like DRV8825 you should set current using varistor on driver's board.

motflagsN (23) GS

Nth motor flags. To understand bit fields of these flags use dumpmotflags.

motmul * (36) GS

external multiplexer status (<0 - disable, 0..7 - enable and set address).

motno (44) GS

Motor number for next pdn commands (if you want to run custom commands by hands or in a batch).

motreinit (25)

Re-init motors after configuration changed. Some changes will run this automatically.

pdnN (43) GS

Read/write TMC2209 (and other UART-based drivers) registers over uart @ motor number motno. For pdnN=X N is register number, X is data to write into it. Due to protocol's particulars you can't work with registers with address more than 126 (0x7e).

ping (1)

Echo given command back. For CAN bus return original packet, for USB - given argumemt and parameter (but checking parameter).

relposN (27) GS

Relative (with ramp) move for given amount of steps (get remaining steps for getter).

relslowN (28) GS

Like relpos but with constant slowest speed (you can change it with minspeed).

reset (9)

Software reset.

saveconf (13)

Save current configuration into MCU flash memory.

screen* GS

Enable (1) or disable (0) screen.

speedlimit (20) G

Get limiting speed for current microsteps setting.

stateN (33) G

Get Nth motor state (dumpstates: 0-relax, 1-accel, 2-move, 3-mvslow, 4-decel, 5-stall, 6-err).

stopN (30)

Stop Nth motor with deceleration (moving by ramp).

time (10) G

Get time from start (ms).

tmcbus * GS

TMC control bus (0 - USART, 1 - SPI), unuseful command; use motflags instead.

udata* (39) GS

Data by usart in slave mode (text strings, '\n'-terminated).

usartstatus* (40)

GS status of USART1 (0 - off, 1 - master, 2 - slave).

vdrive (41) G

Approximate voltage on Vdrive input, millivolts.

vfive (42) G

Approximate voltage on 5V bus, millivolts.

CAN bus

Default CAN ID is 1. Protocol use variable length incoming messages: from 2 bytes for simplest commands to all 8 bytes for common. Bytes (in time order):

• 0, 1 - little-endian command code.
• 2 - parameter number (0..126), 127 means "no parameter", elder bit (0x80) is a setter flag (without it all rest part of message ignored).
• 3 - (only in packets from controller) error code.
• 4...8 - little-endian data.

Command codes described in USB answer for dumpcmd:

1 - ping
4 - adc
5 - button
6 - esw
7 - mcut
8 - mcuvdd
9 - reset
10 - time
12 - gpio
13 - saveconf
16 - microsteps
17 - accel
18 - maxspeed
19 - minspeed
20 - speedlimit
21 - maxsteps
23 - motflags
24 - eswreact
25 - motreinit
26 - goto
27 - relpos
28 - relslow
29 - emstop N
30 - stop
31 - emstop all
32 - gotoz
33 - state
35 - abspos
36 - motmul
37 - diagn
38 - eraseflash
39 - udata
40 - usartstatus
41 - vdrive
42 - vfive
43 - pdn
44 - motno
45 - drvtype

Error codes (dumperr):

0 - OK
1 - BADPAR
2 - BADVAL
3 - WRONGLEN
4 - BADCMD
5 - CANTRUN