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Further updates to Getting Started

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Add flashing instructions
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docs/src/Getting Started.adoc
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@@ -43,13 +43,13 @@ In addition to motor control and feedback each STMBL drive has two
== Anatomy of the STMBL
The STMBL consists of two separate PCBs (though the PCB is assembled as
a single panel and then split to be connected in the manner shown below)
The STMBL consists of two separate PCBs (though they are made as one,
assembled and then split to be connected in the manner shown below.
The vertical (top) board is the Low Voltage (LV) board and this handles
the command, feedback and configuration tasks. The STM32F4
microprocessor is in charge of these tasks.
The lower board is the high-voltage (HV) board and this is where the
power driver is situated.
The lower board is the
high-voltage (HV) board and this is where the power driver is situated.
The only connection between the two boards is a serial connection
through a 5kV isolation IC. To make this possible there is a second
STM32 chip on the lower board. This is an STM32F3 and is referred to as
@@ -99,30 +99,26 @@ connectors which can accept core wires up to 1.6mm and overall cable
diameters up to 9.0mm.
Feedback 0 will typically be the encoder or resolver mounted on the
motor. Feedback 1 is optional but can be used to connect Hall sensors
for initial commutation or (potentially) scales mounted directly to the
motor and feedback 1 can be used to connect either Hall sensors for
initial commutation or (potentially) scales mounted directly to the
axes. See the <<Pinouts>> section of this document for pin assigments
and typical wiring colour codes.
The 6-way socket below the 24V logic power connector contains the three
digital outputs. These are current-sinking (switch-to-GND) and each is
adjacent to a 24V suppply pin. To operate a 24V load just wire + to the
+24V pin and 0V to the DIO pin. DIO0 (nearest the top) is the one that is
typically used to operate the holding brake on brake-equipped motors.
The outputs are rated for at least 2A and have fyback diodes, so can be
used to directly control inductive loads such as relays, soilenoid
valves or contactors.
adjacent to a 24V suppply pin. DIO0 (nearest the top) is the one that is
typically used to operate the holding brake on motors so-equipped.
On the top of the drive are two +/-30V analogue inputs, with 0V and 24V
on either side to that a potentiometer can be connected. These are
On the top of the drive are two analogue inputs, with 0V and 24V on
either side to that a potentiometer can be connected. These are
typically used as variable-threshold digital inputs and are used, for
example, for axis limit switches. However it is relatively simple to
configure them for other uses in the HAL layer.
configure them for other uses in the HAL layer.
Three LEDS on top of the unit indicate drive status. Red displays error
codes (using <<Blink Codes,blink codes>>). Amber indicates that all is
well but the drive is not enabled, and green shows that the drive is
active and operating normally.
codes (using <<Blink Codes,blink codes>>). Amber indicates that all is well but the
drive is not enabled, and green shows that the drive is active and
operating normally.
If no LEDs on the top of the board are illuminated, and the green power
LEDs near the power connectors _are_ illuminated then it is probably
@@ -135,7 +131,7 @@ firmware is loaded.
STMBL uses a Hardware abstraction layer to configure the drive for
different types of motor, feedback and operation mode.
This is conceptually similar to the HAL in LinuxCNC but the format and
commands are different. Also, all pins are floating point so no data
cmmands are different. Also, all pins are floating point so no data
conversion is needed.
An Application called <<Servoterm>> is used to interact with the HAL
@@ -148,32 +144,32 @@ and the <<Servoterm Commands,servoterm commands>>
Assuming that there is already a motor connected to the drive and that
the drive it powered up the <<Servoterm>> display should already be
indicating the motor position feedback. Rotating the motor shaft by hand
might produce something like the image below. (Though it equally well
might not if the configuration is set up for a motor significantly
different to the one connected)
might produce something like:
image::images/servoterm3.png[].
image::images/servoterm3.png[]
Though it equally well might not if the configuration is set up for a
resolver and the motor has an encoder.
It should be possible to make the motor turn at this point without any
further configuration. The commands that follow will set the hv0 module
up to rotate the motor open-loop in direct-mode. (like a stepper motor)
with an excitation current of 0.5A. This should be safe for most
up to simply rotate the motor open-loop in direct-mode. (like a stepper
motor) with an excitation current of 0.5A. This should be safe for most
motors that the STMBL is a good match for, but you should choose your
own value. For an explanation of direct and quadrature current see the
section on <<Motor Control Basics>>
section on <<Motor Basics#,motor control basics>>
`hv0.pos = sim0.vel` +
`hv0.d_cmd = 0.5` +
`hv0.en = 1` +
`hv0.pos = sim0.vel`
`hv0.d_cmd = 0.5`
`hv0.en = 1`
The rotation speed can be altered by changing the sim0 frequency:
`sim0.freq = 5`
STMBL v4 HAL contains a number of components that have built-in linking
behaviour. This very much simplifies the HAL setup, and much of the
detail of individual HAL modules will not need to be considered to set
up a typical motor.
behaviour.
=== HAL modules
The Servoterm command `show` will list all the HAL modules that can be
@@ -182,6 +178,7 @@ loaded (whereas `list` will show all those that currently are loaded)
The modules available are as follows (the link will take you to the
reference section for each component)
<<HAL Reference#acim_ttc,acim_ttc>> - The module used for AC induction
motors (cf pmsm) ttc is Torque to Current+
<<HAL Reference#adc,adc>> - Analogue to digital converter for Resolver
@@ -267,14 +264,15 @@ somewhat odd, but does provide for good cross-platform availability.
Servoterm can be downloaded from https://github.com/STMBL/Servoterm-app[
this link].
Use the green button to download as a ZIP file and then extract on your
PC (Linux / Mac / Windows). Open Google Chrome and click the three-dots icon
PC (Linux / Mac / PC). Open Google Chrome and click the three-dots icon
-> more-tools -> extensions.
[width=600, border]
image::images/Extensions.png[]
Click "developer mode" and then "Load Unpacked Extension". Then navigate
to the downloaded files and select the "Servoterm" folder.
Click
"developer mode" and then "Load Unpacked Extension". Then navigate to
the downloaded files and select the "Servoterm" folder.
You should then be presented with the following, including an option to
launch the application.
@@ -305,7 +303,6 @@ file
* Jog - when ticked the left-right arrow keys on the keyboard can be
used to jog the motor.
* Trigger - stops the graph plot until the trigger condition is met.
i.e when term0.wave0 crosses zero.
* Trigger Status Indicator - not a button
* Edit Config - Brings up a sub-window in which the basic system config
can be edited.
@@ -369,6 +366,175 @@ editor
== Flashing Firmware
=== Requirements to build/flash firmware
The GCC cross-compiler for Arm:
gcc-arm-none-eabi-gcc https://launchpad.net/gcc-arm-embedded/+download
In order for the STMBL Makefiles to be able to find the gcc binaries
you may need to edit the file toolchain.mak to point to the correct
folder and version number.
To flash the boards with USB you will need the dfu-utils package.
http://dfu-util.sourceforge.net
stlink https://github.com/texane/stlink
You will also need the STMBL source code, available from
https://github.com/rene-dev/stmbl
You can either clone this as a https://git-scm.com[git] archive or just
download a current snapshot as a zip file.
For Windows only you will also need the STMBL Virtual Comport
http://www.st.com/content/st_com/en/products/development-tools/software-development-tools/stm32-software-development-tools/stm32-utilities/stsw-stm32102.html
The STM32 chips have a built-in ROM bootloader, this means that it
should be impossible to "brick" the boards. Each of the two CPUs in the
STMBL drive needs both a dedicated bootloader to start the STMBL firmware
and the firmware itself.
=== Checking for Existing Firmware
Before flashing firmware it is worth trying to figure out if your board
is completely blank or has been pre-flashed with a bootloader or
firmware.
If the board lights any LEDs other than the green power-good ones near
to the power input connectors then there is likely to already be a
firmware installed.
If the board is powered with 24V to the LV board and connected with USB
to a PC then it will report as "STMBL Virtual ComPort:" in the Apple
System Profiler,
"ID 0483:5740 STMicroelectronics STM32F407" in lsusb in Linux and
"STMBL Virtual COM Port" in the Windows device manager if
there is a full firmware + STM32 bootloader installed.
Additionally, if the board will connect with Servoterm then it already
has a firmware and STMBL bootloader.
If the board shows "STM32 BOOTLOADER" (Mac)
"0483:df11 STMicroelectronics STM Device in DFU Mode" (Linus lsusb) or
"STM32 BOOTLOADER" (Windows Device Manager) when powered up (without
using the boot pads) then this indicates that it already has an STMBL
bootloader. (though no harm is done by re-flashing this)
If the LV board does not show up at all on the USB bus then attempt to
put it in ROM boot mode by shorting the boot pads together, you should
see "STM32 Bootlader" (Mac), "STMicroelectronics STM Device in DFU Mode"
(Linux lsusb) or "STM32 BOOTLOADER" (Windows Device Manager)
In this case you will need to flash both the STMBL bootloader and the
STMBL firmware.
With 24V to the HV board and a USB connection:
If the HV board has both an STMBL bootloader and an STMBL Firmware
installed then it will illuminate only the green power LED and will
report as "STMBL Virtual Com Port" (Mac)
"0483:5740 STMicroelectronics STM32F407" (Linux, rather inaccurately)
and "Unknown Device" in the Windows Device Manager.
If the HV board has an STMBL bootloader installed then it will flash a
red LED near to the USB connector and report as
"STM32 DownLoad Firmware Update:" (Mac)
"0483:df11 STMicroelectronics STM Device in DFU Mode" (Linux lsusb) and
"Unknown Device" in the Windows Device Manager.
If the HV board does not show up at all on the USB bus then attempt to
put it in ROM boot mode by shorting the boot pads together, you should
see "STM32 Bootlader" (Mac), "STMicroelectronics STM Device in DFU Mode"
(Linux lsusb) or "STM32 BOOTLOADER" (Windows Device Manager)
In this case you will need to flash both the STMBL bootloader (F3
version) and the STMBL firmware (F3 version).
The boards can also be flashed with a JTAG programmer, but that process
is not documented here.
It can be convenient to flash the boards to test them before separating
the halves and before installing the IRAM module and bus capacitors if
you have a self-built or part-assembled board.
It is possible that in the future standalone binaries of the firmware
will be made available.
Firmware flashing is handled by specifying a makefile target for each of
the 4 firmware sections.
=== Flashing the F4 (low voltage) board
Connect 24V to the low voltage board power cable and a USB cable to the
computer where the source code has been downloaded to.
To flash the initial boot formware it is necessary to put the STM32 CPU
into ROM bootloader mode. You do this by shorting together the two pads
marked "boot" on the larger of the two boards. For the exact location of
these pads see the illustration in the <<Anatomy of the STMBL,Anatomy>>
section. Typically a small screwdriver can be used for this purpose.
At this point the board should appear as an "STM32 Bootloader" in the
USB tree of the attached PC. It might be necessary to power-up the board
with the pads shorted.
The commands to flash the firmwares should be issued from a command line
after navigating to the root of the downloaded source code (ie the same
directory as the "Makefile" file)
The command to flash the F4 bootloader is:
'make boot_btburn
There should then be a quantity of text output culminating with a
progress bar:
'Downloading to address = 0x08000000, size = 2756
'Download [=========================] 100% 2756 bytes
There may be several apparent errors reported during the process, but
these can be ignored if the progress bar is seen.
The next step is to flash the actual firmware. This will take rather
longer as the firmware will need to be compiled. The command is:
'make btburn
Again, a progress bar should appear, indicating success.
=== Flashing the F3 (high voltage board)
Connect an isolated 24V supply to the HV inputs of F3 board. The board
can operate at up to 380V but for the flashing process 24V is much safer.
Connect the USB cable to the HV board as with the LV board, and use the
boot pads on the HV board to put it into bootloader mode. Again it
should appear in the USB device tree.
The command to flash the bootloader for the F3 board does not have a
makefile shortcut, it is:
'make -f f3dfu/Makefile btburn
Again a progress bar should be seen, after which the main F3 firmware
can be flashed:
'make f3_btburn
If all is well the board should now appear connnect to servoterm if the
USB cable is moved to the LV (F4) board and if 24V is supplied to both
power connectors.
If you type "hv0" at the servoterm command line and see a bis voltage
then this indicates that both STM32 ships have working firmware and that
communication between them is functional. This might require as much as
30V supply to the F3 board as 24V is a little marginal for one of the
devices in the communication chain.
Example:
'hv0
'hv0.max_cur <= conf0.max_ac_cur = 30.000000
'hv0.dc_volt = 33.513943
'hv0.d_fb = -0.022181
== Pinouts
=== Command connector wiring: