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