2.3 KiB
Development board for TMC2130/DRV8825 stepper driver modules
Stepper control over CAN bus, RS-485 and USB.
Pinout
PA0 - AIN0 (12V voltage control) AIN PA1 - AIN1 (5V voltage control) AIN PA3 - STEP timer PA4 - DIR PP PA5 - SCK - CFG1 - microstepping1 SPI/PP PA6 - MISO - CFG0 - ~RST SPI/PP PA7 - MOSI - CFG1 - microstepping0 SPI/PP PA8 - Tx|Rx (RS485 direction) PP PA9 - Tx (RS485) USART PA10 - Rx (RS485) USART PA11 - DM (USB) USB PA12 - DP (USB) USB PA13 - SWDIO (st-link) SWD PA14 - SWCLK (st-link) SWD
PB0 - ESW0 PUin PB1 - ESW1 (limit switches or other inputs) PUin PB2 - ESW2 PUin PB8 - CAN_Rx (CAN) CAN PB9 - CAN_Tx (CAN) CAN PB10 - ESW3 PUin PB12 - brdaddr0 PUin PB13 - brdaddr1 (bits of board address switch) PUin PB14 - brdaddr2 PUin PB15 - brdaddr3 PUin
PC13 - CFG6 - ~EN PP PC14 - CFG3 - ~CS - microstepping2 PP PC15 - ~SLEEP PP
PF0 - VIO_on (turn ON Vdd of driver 4988 or 2130) OD PF1 - ~FAULT (~fault output of 8825) FLin
RS-485
The same protocol as USB, but 1st symbol should be BRDADDR
CAN
Data format: big-endian. For example 0x03 0x04 0x05 0x0a means 0x0304050a. Messages with variable width. IN messages have ID = 0x70 | (devNo<<1), devNo - number, selected by jumpers @ board. OUT messages have ID=IN+1. zeros byte of data is command. All other - data.
TODO
Add linecoding_handler to change RS-485 speed due to USB connection settings?