AN2334
Application Note
Complete car door module
Introduction
A car door module typically consists of a rubber-sealed carrier, onto which a variety of door
components such as the window lift mechanism, the wing mirror electric motor, the wiring
harness, the loud speaker, the door latch inner release cable, locks and various switches
are fitted, forming a “cassette”.
The trend in both Europe and the U.S. is to increase the complexity of the door module by
adding more electronic features needed to drive all door loads and functions, with the
possibility to connect the module to other car subsystems via standard automotive
communication protocols (LIN, CAN).
Among many of these automotive subsystems, the connectivity via a single wire,
decentralizing electronic modules, reduces the number of wires required and in turn reduces
wiring harness weight, contributes significantly to overall vehicle weight reduction. This is of
concern to auto manufacturers, who are constantly striving to reduce vehicle weight and to
improve fuel efficiency.
In this document, an electronic module is presented that controls all the car door functions,
including the window lift, all latching/locking operations, wing mirror movement, mirror turn
indicator light, defroster and some lamps. To reduce the risk of bodily injury, especially to
children, this module also includes an advanced trapping detection feature for the window lift
motor, which stops the window if a body member such as a finger, a hand or an arm is
introduced into the window climbing area during the window climbing process. A low-cost,
high performance, antipinch algorithm based on monitoring the window motor driver current,
has been developed.
September 2013
Rev 2
1/22
www.st.com
Contents
AN2334
Contents
1
Car door module description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3
Local Interconnect Network (LIN) messages . . . . . . . . . . . . . . . . . . . . 10
4
PC Keypad software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5
Hardware implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Appendix A Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2/22
AN2334
List of tables
List of tables
Table 1.
Table 2.
Table 3.
Table 4.
Table 5.
Table 6.
Table 7.
Table 8.
Table 9.
Table 10.
Table 11.
Door module actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Application Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
FR RL RR data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Front Right Door . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
PC-VNH2 Diag. data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Dashboard data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
PC - L9950 Diag. data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Window and door lock coding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Mirror and door lock coding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
L9950 Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3/22
List of figures
AN2334
List of figures
Figure 1.
Figure 2.
Figure 3.
Figure 4.
Figure 5.
Figure 6.
Figure 7.
Figure 8.
Figure 9.
Figure 10.
4/22
Door module block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
VNH2 PWM signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Simplified algorithm flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Master/slave diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
LIN bus message frame format diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
PC keypad screenshot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Adjust thresholds screenshot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Board connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Board Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
AN2334
1
Car door module description
Car door module description
This note describes a complete electronic module used to drive all loads in a car door,
connected via a LIN bus to the dashboard and to other doors, and via a parallel port to a PC
(for demonstration purposes). The block diagram in Figure 1 shows the system
configuration.
Figure 1.
Door module block diagram
Table 1.
Door module actuators
Actuators
Pnom
Window Lift
1 DC motor
Door lock
1 DC motor
Mirror axis
control
2 DC motors
Mirror fold
1 DC motor
Mirror defroster
1 grounded resistive
load
100W
Light bulbs
4 grounded resistive
loads
5W
Working
voltage
Load
speed
(Typ)
Load
current
>78 rpm
<2.5A
<20A
<2A
<10A
(Typ)
Stall
current
12 V
5/22
Car door module description
AN2334
The microcontroller is the ST72F561, a member of the ST7 microcontroller family, designed
for mid-range applications with CAN (Controller Area Network) and LIN (Local Interconnect
Network) interfaces. It is based on an industry standard 8-bit core, featuring an enhanced
instruction set. The enhanced instruction set and addressing modes of the ST7 offer both
power and flexibility to software developers, enabling the design of highly efficient and
compact application codes. In addition to standard 8-bit data management, all ST7
microcontrollers feature true bit manipulation, 8x8 unsigned multiplication and indirect
addressing modes.
The voltage regulator is the L4979 which offers high precision output voltage and a
programmable watchdog timer with an external capacitor. The programmable watchdog
timer allows microcontroller auto-recovery from software runaway failures.
The L9638 performs LIN-bus interface functions between the protocol handler in the
microcontroller and the physical bus in automotive applications. It has a Sleep mode that
allows the lowest current consumption of the transceiver. It is possible to wake up the
transceiver through LIN-bus, Enable input or Wake-up input.
The new VNH2SP30 window power bridge driver provides a smooth and fully-protected
motor drive via 20 kHz PWM. A current sense (CS) output is used to monitor motor torque
that provides an antitrap function via the ADC inputs of the microcontroller.
Finally, the L9950 actuator driver controls mirror adjustment and fold-in/-out, as well as an
advanced locking system, driving the door latch and the dead bolt motor. Five intrinsic highside drivers are available to control various lamps or LEDs, including the mirror defroster,
and sophisticated diagnostic algorithms allow digital and analog load status to be monitored
by reading fold, lock motors and defroster currents.
6/22
AN2334
2
Algorithms
Algorithms
After turn on or resetting, the microcontroller initializes all used peripherals (I/Os, Timers,
ADC and LIN-SCI) and variables, drives the L9950 to open the left wing-mirror and sends a
LIN message to do the same for the right wing-mirror. Afterward, it starts an infinite loop that
can be stopped only by resetting or turning off the board.
The microcontroller starts polling on both key pins (for driving window lift) and the keypad.
As soon as a load is turned on, the L9950 Enable Bit is set to switch the device into active
mode, turning on the Charge Pump Output. This output drives the gate of an external nchannel power MOS used for reverse polarity protection. This action, guaranteeing the
reverse battery protection, needs about 300µs, which is the activation delay for every load.
When no load is driven, the Enable Bit is cleared and the device goes into standby mode for
power saving.
It is possible to drive the window lift by using both the PC keypad and board keys (#4 / #5 Figure 9). The "Up key" and "Down key" pins are configured in the input pull-up mode, so
they are normally at a high value (5V); if the UP or DOWN buttons are pressed, two different
behaviors are shown, depending on the duration of the pressing time. If the button is
pressed for less than 100 ms, the glass moves up or down (depending on the key pressed)
until the top or bottom part of the window is reached; if the pressed time exceeds 100 ms,
the window moves up or down following the touch temporization. The same behavior occurs
when a PC software keypad is used.
The "Window Up switch" pin (#9 - Figure 9), also configured in input pull-up mode, must be
connected using a mechanical switch that senses the window end run, indicating that the
door upper limit has been reached.
The PWM 8-bit Autoreload Timer is used to perform a task temporized at 1 ms.
This task is in charge of all temporized events:
–
It counts 250 ms before sending a LIN request message to the dashboard
–
In case of window lift activation, it manages current sampling
–
It also controls the mirror folding, locking and turn indicator light on and off
switching timings
When either the Down or Up key (both in the board or on the PC keypad) are pressed, the
Window_Lift routine is called:
–
VNH2 InA and InB pins are, then, set or reset, depending on the key pressed, to
lift the window up or down and,
–
the 16-bit Timer is used to provide to the VNH2 a PWM signal with 20 kHz
frequency and 30% duty cycle
–
during a 1 ms task, the current sense voltage is acquired via ST7 ADC; the
acquisition is averaged over a 10 ms period to eliminate noise. Motor power is
calculated by multiplying the current sense by the estimated angular velocity. This
value is averaged over 100 ms, providing a delayed signal compared to the
original. The difference between power and averaged power must be compared
with a threshold to determine whether a pinch event occurs. This threshold
depends on the motor status (soft start up or steady state conditions).
Unless a Down/Up key is pressed or a pinch occurs, the duty cycle increases linearly until
100% is reached and the PWM becomes a constant (steady state phase, see Figure 2.)
7/22
Algorithms
AN2334
Figure 2.
PWM
5V
VNH2 PWM signal
Duty
Cycle
30%
Duty
Cycle
50%
Duty
Cycle
70%
Duty
Cycle
100%
Soft Start
t
At this point the system waits for any event: A pressed key or a pinch.
If a key is pressed, the motor is stops, resetting VNH2 PWM and setting InA and InB for
braking to Vbatt the motor and stopping the glass.
In case of a pinch event, the Window Up switch is first checked. If this switch is closed
(upper limit reached), the glass is locked driving the motor up for 800 ms.
Otherwise, if the glass moves up, it is driven down for 800 ms to release the pinched object;
if it goes down the motor is stopped immediately.
When an abnormal condition is detected (Open Load, Short circuit or thermal shutdown), a
LIN message is sent to the PC VNH2 diagnostic node. Open Load is detected by current
sense voltage monitoring (value) while a short circuit and thermal shutdown are detected
using the VNH2 DIAGx pin. When DIAGx pin is reset, while INx is set, the status pin
indicates a thermal shutdown; otherwise, if INx is reset the status pin detects a short circuit.
For further information about antipinch algorithms, please refer to “AN2095 - VNH2 for
window lift with antipinch routine”.
When a command for L9950 loads is detected through keypad input pins, the
microcontroller drives such loads through the L9950 SPI bus. Serial data for controlling
outputs and for receiving status registers is sent via this bus.
For example, if one of the over-current bits is set, the corresponding driver is disabled. If the
over-current recovery bit of the output is not set, the microcontroller must clear the overcurrent bit to enable the driver again.
If the thermal shutdown bit is set, all drivers go to high impedance state. Again, the
microcontroller must clear the bit to enable the drivers.
When the Fold Mirror motor is activated, the relevant motor is driven for 4 seconds with a
fully charged battery and for 6 seconds in other cases. Since the OUT1 is common to all
mirror motors, it is impossible to drive two or more mirror motors at the same time.
The turn indicator and the defroster are driven using PWM2 and PWM1 respectively.
For all lights, the over-current Recovery Enable bit is set by the microcontroller; this
automatically reactivates the output after a delay time, resulting in a PWM modulated
current with a programmable duty cycle.
The over-current recovery feature is intended for loads which have an initial current higher
than the over-current limit of the output (for example, cold light bulbs).
The described algorithm, including LIN message managing, is stored in less than 10 kB on
the microcontroller Flash memory.
8/22
AN2334
Algorithms
Figure 3.
Simplified algorithm flowcharts
Reset
Init
Load Turn ON/OFF
Ext. WDG reload
Turn On Charge Pump
Paral. Port and keys read
VNH2 or
L9950
Key or keypad
Pushed
VNH2
NO
Load turn ON/OFF
LOAD ?
Window Lift Routine
NO
L9950
SPI send MSG
Diagnostic
Send LIN Msg to PC
250 ms Task
LIN Msg Request to Dashboard
Receive Data
Defroster
ON
YES
NO
PWM1 On
SPI send Msg
Turn Light ON
YES
PWM2 On
NO
SPI send Msg
9/22
Local Interconnect Network (LIN) messages
3
AN2334
Local Interconnect Network (LIN) messages
Created by the LIN Consortium (a collection of automotive, software and semiconductor
manufacturers), LIN is a low speed bus with a maximum speed of 20kbaud. The most
significant advantage offered by LIN bus is the low cost of implementation. Implementing a
LIN node costs approximately half of an equivalent CAN bus node.
The LIN bus protocol is based on the common UART byte interface. Any microcontroller with
a UART interface can be used as a node on the LIN bus since the basic transmission uses
the UART format. The LIN bus protocol specification 1.2 defines three standard baud rates:
2400 baud, 9600 baud and 19200 baud. Communication is based on a master/slave
mechanism.
The bus is composed of one master node (Driver door) and five slave nodes (All Doors,
Front Right Door, Dashboard, PC VNH2 Diagnostic and PC UH22/L9950 Diagnostic). All
arbitration and collision management takes place in the master node to further simplify and
lower the cost of the slave nodes.
Figure 4.
Master/slave diagram
CAN Bus
MASTER
Driver Door
LIN Bus
SLAVE
All Doors
SLAVE
Front Right Door
SLAVE
Dashboard
SLAVE
PC-VNH2 Diag
SLAVE
PC-UH22/L9950 Diag
–
All Doors is used for locking/unlocking all doors
–
Front Right Door is the slave node in the front right door that receives all
messages for mirror positioning (X-Y and fold) and for front right window lift
–
Dashboard is questioned from the master node each 250 ms in order to give
information for turning on/off turn indicator and defroster
–
PC-VNH2 is used for demonstration purposes to send VNH2 diagnostic
information to PC
–
PC-UH22/L9950 is also used for demonstration purposes to send L9950
diagnostic information to PC
All communications on the bus take the form of messages, which have a defined format
known as the message frame. A diagram showing the format of the message is shown in
Figure 5. The message frame is composed of a header and a response. The header is
further broken down into three fields:
10/22
–
The synchronization break field, composed of 13 dominant bits (0) and at least
one recessive bit (1), which indicates the beginning of a frame.
–
The synchronization field, which allows a slave to be synchronized on the current
master baud rate.
–
The identifier field, which identifies the requested message and the length of the
response field.
AN2334
Local Interconnect Network (LIN) messages
Figure 5.
LIN bus message frame format diagram
Only the master node can initiate a message by sending a header field that is received by all
nodes. Each slave node analyses the header and must be ready to send or receive data
during the response field of the frame. The identifier field within the header informs all slave
nodes in the network of the appropriate action to take. Such actions include:
–
Receiving bytes transmitted in the response field
–
Transmitting bytes in the response field
–
Doing nothing
ST72F561 has a flexible microcontroller architecture that makes the implementation of LIN
bus communication much easier than on other devices.
The LIN bus transmission of a master node, as this demoboard, has three distinct phases:
–
Synchronization break field transmission: The length of this field is 13 dominant
bits and 1 recessive bit
–
Data byte transmission: The synchronization field, the identifier field, the data
fields and the checksum field are each one byte fields.
–
Data byte reception: The data fields and the checksum field are also transmitted in
a byte wise manner.
The LIN bus protocol uses a standard baud rate: 19200 baud. In case of microcontroller
debugging, when CPU frequency is divided by two, a 9600 baud protocol is also possible.
The software PC allows users to change the baud rate.
It is necessary to define a specific ID (6 bits long) for each message, which is used for
reception or transmission. The message ID is written in a hexadecimal format with the parity
bits included. According to the LIN specification, the data field can be 1 to 8 bytes long (for
LIN 1.2 and newer).
The parity bits P0 and P1 are calculated as follows:
P0=ID0 ID1 ID2 ID4
P0=ID1 ID3 ID4 ID5
Because the application is for demonstration purposes, it uses two LIN messages for
transmission with PC (2 bytes long for VNH2 diagnostic and 8 bytes long for L9950
diagnostic).
11/22
Local Interconnect Network (LIN) messages
Table 2.
AN2334
Application Messages
Message ID
Slave
response
source
Slave response
destination
N.transmit
[bytes]
Message
Data
Description
LinMsg1
(0xc1)
Driver Door (M)
FR RL RR
Doors (S)
2
See Table 3
Master transmit doors lock / unlock
command
LinMsg2
(0x42)
Driver Door (M)
Front Right
Door (S)
2
See Table 4
Master transmit FR Door
commands
LinMsg4
(0x73)
Driver Door (M)
PC-L9950
Diag (S)
8
See Table 7 Master transmit diagnostic signals
LinMsg3
(0xC4)
Driver Door (M)
PC-VNH2
Diag (S)
2
See Table 5
LinMsg5
(0x11)
Dashboard (S)
Driver Door (M)
2
See Table 6 Master data request
Table 3.
Table 4.
Master transmit RL Door
commands
FR RL RR data
Description
Data Value
Unlock Doors
0x01
Lock Doors
0x02
Front Right Door
Description
Data Value
Front Right Mirror Dx
0x01
Front Right Mirror Sx
0x02
Front Right Mirror Up
0x03
Front Right Mirror Down
0x04
Front Right Mirror Close
0x05
Front Right Mirror open
0x06
Front Right Window Up
0x07
Front Right Window Down
0x08
Table 5.
PC-VNH2 Diag. data
Description
Data Value
No diag err
0x01
Therm. Shutdown Leg A
0x27
Therm. Shutdown Leg B
0x28
Short Circ. Leg A
0x29
Short Circ. Leg B
0x2A
Open Load
0x2B
12/22
AN2334
Table 6.
Local Interconnect Network (LIN) messages
Dashboard data
Description
Data Value
No action
0x01
Defroster turn on
0x02
Turn light turn on
0x03
Defroster and Turn light turn on
0x04
Table 7.
PC - L9950 Diag. data
Data0
Bit Description
Data1
Bit Description
Data2
Bit Description
Data3
Bit Description
Data4
Bit Description
0
VS Over
Voltage
0
Out 2 HS
Over Current
0
Out 6 HS
Over Current
0
Out 2 LS
Open Load
0
Out 6 LS
Open Load
1
VS Under
Voltage
1
Out 3 LS
Over Current
1
Out 7 HS
Over Current
1
Out 2 HS
Open Load
1
Out 6 HS
Open Load
2
Thermal
Shutdown
2
Out 3 HS
Over Current
2
Out 8 HS
Over Current
2
Out 3 LS
Open Load
2
Out 7 HS
Open Load
3
Temperature
Warning
3
Out 4 LS
Over Current
3
Out 9 HS
Over Current
3
Out 3 HS
Open Load
3
Out 8 HS
Open Load
4
N.U.
4
Out 4 HS
Over Current
4
Out 10 HS
Over Current
4
Out 4 LS
Open Load
4
Out 9 HS
Open Load
5
Out 1 LS
Over Current
5
Out 5 LS
Over Current
5
Out 11 HS
Over Current
5
Out 4 HS
Open Load
5
Out 10 HS
Open Load
6
Out 1 HS
Over Current
6
Out 5 HS
Over Current
6
Out 1 LS Open
Load
6
Out 5 LS
Open Load
6
Out 11 HS
Open Load
7
Out 2 LS
Over Current
7
Out 6 LS
Over Current
7
Out 1 HS Open
Load
7
Out 5 HS
Open Load
7
N.U.
13/22
PC Keypad software
4
AN2334
PC Keypad software
Before switching on the board, the PC “Keypad” software must be run, defining the parallel
port base address (see Windows Device Manager) and the COM serial port to be used.
PC software has four different functions: Keyboard, dashboard, LIN analyzer, VNH2 and
L9950 diagnostic view.
–
Table 8.
Keyboard is connected to the microcontroller via a parallel port and provides to
the microcontroller an 8-bit word that encodes all possible user actions as
described in the following Table 8 and Table 9:
Window and door lock coding
Window
Door
Parallel Port
14/22
Up Left
Down Left
Up Right
Down Right
Lock / Unlock
0
0
0
0
0
192
0
0
0
1
0
194
0
1
0
1
0
202
0
1
0
0
0
200
0
0
1
0
0
196
1
0
1
0
0
212
1
0
0
0
0
208
0
0
0
0
1
193
0
0
0
1
1
195
0
1
0
1
1
203
0
1
0
0
1
201
0
0
1
0
1
197
1
0
1
0
1
213
1
0
0
0
1
209
AN2334
PC Keypad software
Table 9.
Mirror and door lock coding
Mirror
Door
Parallel Port
Open
Close
Left /
Right
Up
Down
Left
Right
Lock /
Unlock
0
0
0
0
0
0
0
0
0
1
0
0
0
0
0
0
0
128
0
1
0
0
0
0
0
0
64
1
0
1
0
0
0
0
0
160
0
1
1
0
0
0
0
0
96
0
0
0
1
0
0
0
0
16
0
0
0
0
1
0
0
0
8
0
0
0
0
0
1
0
0
4
0
0
0
0
0
0
1
0
2
0
0
1
1
0
0
0
0
48
0
0
1
0
1
0
0
0
40
0
0
1
0
0
1
0
0
36
0
0
1
0
0
0
1
0
34
0
0
0
0
0
0
0
1
1
1
0
0
0
0
0
0
1
129
0
1
0
0
0
0
0
1
65
1
0
1
0
0
0
0
1
161
0
1
1
0
0
0
0
1
97
0
0
0
1
0
0
0
1
17
0
0
0
0
1
0
0
1
9
0
0
0
0
0
1
0
1
5
0
0
0
0
0
0
1
1
3
0
0
1
1
0
0
0
1
49
0
0
1
0
1
0
0
1
41
0
0
1
0
0
1
0
1
37
0
0
1
0
0
0
1
1
35
–
Dashboard is a LIN slave node and is used to switch on or off the turn indicator
light and the defroster.
–
LIN Analyzer “sniffs” all LIN messages that flow through bus.
–
VNH2 and L9950 diagnostic graphically shows the LIN messages addressing
VNH2 and L9950 diagnostic nodes.
Figure 6 displays the program main window snapshot.
15/22
PC Keypad software
Figure 6.
AN2334
PC keypad screenshot
Keyboard
Dashboard
LIN analyzer
16/22
VNH2 and L9950
diagnostics
AN2334
PC Keypad software
PC software can also change the thresholds for the window lift routine. Any threshold
change modifies the motor torque in a pinch state. For further details, please refer to
“AN2095 - VNH2 for window lift with antipinch routine”.
Figure 7.
Adjust thresholds screenshot
17/22
Hardware implementation
5
AN2334
Hardware implementation
The voltage regulator, which provides the required 5V during normal mode, is enabled by
the LIN transceiver through Inhibit Output pin INH. To reset the microcontroller with the
watchdog timer in case of a missing pulse, a jumper must be installed in the Voltage
Regulator Reset connector (#1 - Figure 8).
The jumper must be removed in case of microcontroller reprogramming; in fact, in this
phase, the microcontroller cannot provide pulses to the voltage regulator that should provide
a low level reset. Moreover, during the programming phase, to enable the Voltage regulator
a jumper must be installed in the Voltage Regulator Enable connector (#2 - Figure 8)
because in this case the LIN bus interface L9638 cannot provide the enabling voltage.
In summary, the microcontroller can be reprogrammed using the ICP connector (#10 Figure 8) by removing the Reset jumper (#1 - Figure 8) and settling the Enable jumper (#2 Figure 8). See the ST72F561 datasheet for more details.
A jumper on CB4 connector (#8 - Figure 8) allows using the board without using the LIN
Interface as detailed in Section 3: Local Interconnect Network (LIN) messages.
The board connector locations are given in Figure 8.
Figure 8.
Board connectors
4 Down Key
3 L9950 Outputs
6 - CB5 / 7 – CB3 / 8 - CB4
5 Up Key
9 - Window Up Switch
1 Reset
10 ICP Conn
2 Enable
11 Window
Motor
16 LIN Conn.
12 Power
Supply
13 L9950
Outputs
18/22
15 Wake Up
1
3
5
7
9
11
13
15
2
4
6
8
10
12
14
16
14 Parallel
Port
AN2334
Hardware implementation
The L9950 loads are shown in the following table:
Table 10.
L9950 Loads
L9950 Outputs
Load
OUT1
Common Mirror Motors
OUT2
X Mirror Motor
OUT3
Y Mirror Motor
OUT4
Lock Motor
OUT5
Lock Motor
OUT6
Mirror Fold Motor
OUT7
Exterior Light
OUT8
Footstep Light
OUT9
Safety Light
OUT10
Turn Indicator
OUT11
Defroster
The input signals INA and INB are directly interfaced with the microcontroller to select the
motor direction and the brake condition. The DIAGA/ENA or DIAGB/ENB, connected to the
I/O microcontroller and configured as input pull-up, enable the legs of the bridge. They also
provide a digital diagnostic signal. The CS pin allows monitoring the motor current by
delivering a current proportional to its value. The PWM, up to 20 KHz, allows control of the
motor speed in all possible conditions.
The reverse polarity protection MOSFET needs a zener diode and a resistor between gate
and source to protect against ISO pulses and for proper turn off in static reverse polarity.
In master node application, a LOW ohmic resistor must be connected externally between
LIN and battery to allow the maximum transmission rate.
Finally, all outputs need a 10nF capacitor to protect the module against 8 kV ESD events.
Out1
Out1
Out2
Out4
Out3
Out3
Out5
Reset
Out6
Board Layout
ICP
Connector
Down
Enable
Window
A
Window
B
Up
Gnd
+12
Gnd
Out10
Out11
Out9
Out8
Out7
Gnd
Lin
+12
Figure 9.
Parallel Port
Connector
Wake Up
19/22
20/22
3
2
1
CP
CB2
TxD
EN
RxD
R9
Osc1
U5
M2
CSN
1
2
3
4
5
6
7
8
9
10
J8
D2
GND
LIN
Vs
INH
100k
R31
INH
R30 10K
PE6
CB3
BATTERY
SO8
TxD
WUP
EN
RxD
L9638D
VBAT
4
3
2
1
J2
XT1
16 MHz
to PC Parallel P ort
C1
18pF
M1
10k
+5V
R29 100K
D1
10k
R28
R26
1KOhm
R24
1k
VBAT
Wake Up
J7
4.7k
R1
10k
R2
VBAT
Window Up Switch
J1
5
6
7
8
29
20
23
34
30
25
31
24
44
3
4
5
6
7
8
32
33
C21
4
2
8
1
1
2
18
1nF
INH
CB5
CM
R3
R4
R5
R10
R14
R11
R12
R13
100uF
C20
1K
R23
PF1
CB4
1K
R15
1K
1K
1K
1K
1K
1K
1K
1K
C2
18pF
10nF
SO8
Vcr
Ground
Vs
En
L4979D
C15
Vcw
Vo
Wi
Res out
VBAT
R27 100Ohm
R25
500 Ohm
VBAT
TQFP44
C22
5
7
6
3
PD0/SP I_ss/AIN6
T16_EXTCLK/(HS)/PC2
PC3/CAN_RX
PF5
PF1/AIN7
PE6/AIN5
PF2/AIN8
PC4/CAN_TX
PD7/AIN11
PWM0/PA1
PWM1/(HS)P A2
PWM3/PA3
PWM3/PA4
ARTCLK/(HS)PA5
ARTIC2/(HS)PA6
PD1/linSCL1_RD1
PD2/linSCL1_TDO
T16_ICAP1/AIN4/PC0
Osc1
Osc2
ST72F561
47nF
Ext Wdg
CB1
CON3
1
2
3
J6
100uF
C23
10nF
C24
+5V
RESET
Vss_0
Vssa
Vss2
ICCSEL/Vpp
RESET
ICCDATA/AIN1/PB5
ICCCLK/AIN0/PB4
PE4
PD5/linSCL2_TDO
PC5/SPI_MISO
PC6/SPI_MOSI
T8_ICAP1/PB2
MCO/PB3
T16_OCMP1/AIN2/PB6
T16_ICAP2/(HS)/P C1
PD6/AIN10
T16_OCMP2/AIN3/PB7
PD4/linSCL2_RDl
PD3(HS)/linSCL2_SCK
T8_OCMP1/PB1
PC7/SPI_SCK
Vdd2
Vdd_0
VddA
38
37
15
22
42
13
12
21
41
26
27
10
11
14
19
43
17
36
35
9
28
16
40
39
10nF
R6
R16
10 K
Vpp/ICCSEL
RxD
EN
PWM1
SpiClock
1K
ICCDATA
ICCCLOCK
Ext Wdg
TxD
1K R7
C3
Vdd
C28
R21
R20
R19
10K
+5V
C25
10nF
36
19
18
1
12
32
29
28
25
24
23
15
14
7
6
Tab
26
11
10
8
13
9
27
3
4
5
16
17
20
21
22
30
31
33
34
35
2
14
15
16
21
1
2
30
25
20
19
18
17
29
28
27
26
10nF
C27
J5
10k
R36
50k
Defroster
C29
33nF
CM
C11
10nF
10nF
C17
10nF
C16
Safety Light
C12
C18
Turn Indicator
C13
Lock Mot. B
10nF
10nF
10nF
10nF
ICCCLOCK
ICCDATA
C19
Defroster
RESET
Vdd
Vpp/ICCSEL
Osc1
10nF
10nF
10nF
Mirror Retract Motor
C9
Left-Right Mirror Motor
C6
Common Mirror Motors
10nF
C7
Up-Down Mirror Motor
Common Mirror Motors
10nF
Footstep Light
C8
Lock Mot. A
C10
Common Mirror Motors
Exteriour Light
10nF
C26
MOTOR DC
PWM1
2.7k R34
R32
Lock Mot. B
Mirror Retract Motor
Exteriour Light
Footstep Light
Safety Light
Turn Indicator
Lock Mot. A
Common Mirror Motors
Up-Down Mirror Motor
Left-Right Mirror Motor
R33
10k
OutB
OutB
OutB
OutB
OutA
OutA
OutA
OutA
GNDB
GNDB
GNDB
GNDB
GNDA
GNDA
GNDA
GNDA
SpiClock
Clk
CM/PWM2
PWM1
Out1
Out2
Out3
Out4
Out4
Out5
Out5
Out6
Out7
Out8
Out9
Out10
Out11
Out11
Multi Power SO30
CSens
DiagB/EnB
DiagA/EnA
PWM
PWM
IN A
IN B
VCC
VCC
VCC
VCC
VCC
VCC
VCC
VNH2SP30
Power SO36
GND
GND
GND
GND
Vcc
Vs
Vs
Vs
Vs
Vs
Vs
Vs
Vs
Vs
Vs
Tab
CP
DO
CSN
Di
L9950
R22
2.2K
9
10
6
7
8
5
11
3
4
12
13
24
23
22
VBAT
C5
100uF
VBAT
2.7K R35
2.7K
10K
10K
CP
Master in-Slave out
CSN
Master out-Slave in
33nF
R17
C4
100nF
10K R18
Master in-Slave out
Master out-Slave in
RESET
R8
47K
+5V
ICC Program
1
2
3
4
5
6
7
8
9
10
J4
CON7
1
2
3
4
5
6
7
J9
C14 10nF
CON8
1
2
3
4
5
6
7
8
J3
Appendix A
Close d Door
+5V
Schematic
AN2334
Schematic
Figure 10. Board Schematic
AN2334
Revision history
Revision history
Table 11.
Document revision history
Date
Revision
Changes
07-Apr-2006
1
Initial release.
19-Sep-2013
2
Updated disclaimer.
21/22
AN2334
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