dm00226315

UM1945
User Manual
STM32 Nucleo Pack FOC and 6-step motor control platform
for 3-phase low voltage motor
Introduction
The NUCLEO Pack (P-NUCLEO-IHM001) is a motor control kit based on X-NUCLEOIHM07M1 and NUCLEO-F302R8 boards. The power board with ST L6230 DMOS driver,
belonging to STPIN family, provides a motor control solution for low voltage 3-phase DC
brushless motor with the addition of STM32 NUCLEO board through the ST morpho
connector.
The driver used on power board is the L6230, a DMOS fully integrated driver for 3-phase
brushless PMSM motor, assembled in PowerSO36 package, with overcurrent and thermal
protection. The NUCLEO-F302R8 provides an affordable and flexible way for users to try
out new ideas and build prototypes with STM32 MCU. It does not require any separate
probe as it integrates the ST-LINK/V2-1 debugger and programmer.
This document describes the procedure to configure this P-NUCLEO-IHM001 kit to run the
low voltage motor included in the package. The evaluation board is fully configurable and
ready, to support different closed loop controls based on sensorless or sensored mode, and
it is compatible with 3-shunt or 1-shunt current sense measuring. The Figure 1 shows the
motor control kit assembled.
Figure 1. P-NUCLEO-IHM001 Pack
1. Picture not contractual
September 2015
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1
Contents
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Contents
1
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2
Ordering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3
Basic user - Getting started
4
3.1
System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.2
Building and run the motor control Nucleo Pack . . . . . . . . . . . . . . . . . . . . 6
3.3
Hardware settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.4
Upload the firmware example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.4.1
Drag & drop procedure: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.4.2
ST-LINK tool: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Advanced user - 6-step and FOC control algorithm settings . . . . . . . 16
4.1
4.2
5
.................................. 6
6-step firmware based on X-CUBE-SPN7 . . . . . . . . . . . . . . . . . . . . . . . . 16
4.1.1
Firmware architecture overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.1.2
Firmware parameter settings to spin different BLDC motors . . . . . . . . . 19
4.1.3
Inside the 6-step firmware
4.1.4
DAC settings for debug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
ST FOC SDK – Configuration guide for P-NUCLEO-IHM001 . . . . . . . . . 20
Electrical schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Appendix A Federal Communications Commission (FCC) and Industry Canada
(IC) Compliance Statements25
A.1
A.2
6
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FCC Compliance Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
A.1.1
Part 15.19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
A.1.2
Part 15.105 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
A.1.3
Part 15.21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
IC Compliance Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
A.2.1
Compliance Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
A.2.2
Déclaration de conformité. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
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List of tables
List of tables
Table 1.
Table 2.
Table 3.
Table 4.
Jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Screw terminal table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Connectors description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Document Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
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List of figures
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List of figures
Figure 1.
Figure 2.
Figure 3.
Figure 4.
Figure 5.
Figure 6.
Figure 7.
Figure 8.
Figure 9.
Figure 10.
Figure 11.
Figure 12.
Figure 13.
Figure 14.
Figure 15.
Figure 16.
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P-NUCLEO-IHM001 Pack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
X-NUCLEO-IHM07M1 and NUCLEO-F302R8 assembled . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Motor connection with X-NUCLEO-IHM07M1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Power supply connection for X-NUCLEO-IHM07M1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
X-NUCLEO-IHM07M1 – top layer with silk-screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
X-NUCLEO-IHM07M1 connectors view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
ST-LINK utility tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
ST-LINK utility tool programming environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6-step firmware – Project workspace on IAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Generic firmware architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
X-CUBE-SPN7 software architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Current sense conditioning circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Sensors and shunt resistor circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
L6230 driver and BEMF detection circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
STM32 MCU pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
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1
Features
Features
The information listed below shows the main board specification data and parameters set
for the X-NUCLEO-IHM07M1 expansion board included in the P-NUCLEO-IHM001 kit:

3-phase driver board for BLDC/PMSM Motors

Nominal operating voltage range from 8 V to 48 V DC

2.8 A output peak current (1.4 A RMS)(a)

Operating frequency up to 100 kHz

Non dissipative overcurrent detection and protection

Cross conduction protection

Thermal measuring and overheating protection

Full compatible with ST 6-Step or ST FOC control algorithm

Full support for sensorless and sensor mode

3-shunt and 1-shunt configurable jumpers for motor current sensing

Hall / encoder motor sensor connector and circuit

Debug connector for DAC, GPIOs, etc.

Potentiometer available for speed regulation

Fully populated board conception with test points

User LED

Compatible with STM32 Nucleo boards

Equipped with ST morpho connector

PCB type and size:
–
Material of PCB - FR-4
–
4 layers layout
–
Copper thickness: 70 μm (external layer), 35 μm (internal layer)
–
Total dimensions of the expansion board: 70 mm x 66 mm
a. Device characteristic
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Ordering information
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Ordering information
To order the motor control kit based on X-NUCLEO-IHM07M1 and NUCLEO-F302R8, use
the order code: P-NUCLEO-IHM001.
3
Basic user - Getting started
3.1
System architecture
A generic motor control system can be basically schematized as the arrangement of three
main blocks (see Figure 2):

Control block: its main task is to accept user commands and configuration parameters
to drive a motor. The P-NUCLEO-IHM001 is based on NUCLEO-F302R8 board that
provides all digital signals to perform the proper motor driving control algorithm (for
instance 6-step or FOC).

Power block: the X-NUCLEO-IHM07M1 is based on 3-phase inverter topology. The
core of the power block embedded on board is the driver STSPIN L6230, which
contains all the necessary active power and analog components to perform a low
voltage PMSM motor control.

PMSM Motor: low voltage 3-phase brushless motor.
Figure 2. System architecture
3.2
Building and run the motor control Nucleo Pack
The P-NUCLEO-IHM001 is a complete hardware development platform (Power & Control
block + Motor) for STM32 Nucleo ecosystem to evaluate a motor control solution for single
motor.
For a regular board operating, follow the hardware configuration shown below:
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Basic user - Getting started
1.
The X-NUCLEO-IHM07M1 must be stacked on a NUCLEO-F302R8 board through the
ST morpho connector. There is only one position allowed for this connection, in
particular the two buttons on NUCLEO-F302R8 board (blue B1 and black B2) must be
kept out, as shown in Figure 3.
Figure 3. X-NUCLEO-IHM07M1 and NUCLEO-F302R8 assembled
1. The interconnection between the X-NUCLEO-IHM07M1 with STM32 NUCLEO board has been designed
for a full-compatibility with a lot of control board and no modification of solder bridges is required.
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2.
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Connect the three motor wires U,V,W at J2 connector as shown in the Figure 4: Motor
connection with X-NUCLEO-IHM07M1: it is mandatory to connect the white or yellow
wire to OUT1, the black one to OUT2 and the red one to OUT3, to respect clockwise
and counterclockwise motor rotation, according to the firmware implementation.
Figure 4. Motor connection with X-NUCLEO-IHM07M1
1. The three motor wires are identified by a colored line, marked on them. The line marked on OUT1 (refer to
the white arrow in the above figure) can be white or yellow.
3.
Select the jumper configuration on the power board to choose the desired control
algorithm (6-step or FOC) as described below:
a)
On NUCLEO-F302R8 board, check jumper setting: JP1 open, JP5 (PWR) on E5V
side, JP6 (IDD) closed.
b)
On X-NUCLEO-IHM07M1 expansion board:
–
Check jumper settings: J9(b) closed, JP3 closed
–
For 6-step control set jumper settings as: JP1 and JP2 open, J5&J6 on 1Sh side(b)
–
For FOC control set jumper settings as: JP1 and JP2 closed, J5&J6 on 3Sh side
b. It is important that supply voltage is powered off before control mode changing
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Basic user - Getting started
4.
Connect DC supply voltage on J1(c) connector and power-on (up to 12 V DC for
BR2804 motor included in the Pack, as shown in Figure 5: Power supply connection for
X-NUCLEO-IHM07M1).
Figure 5. Power supply connection for X-NUCLEO-IHM07M1
5.
At power-on (or reset) led D11 on X-NUCLEO-IHM07M1 board starts to blink according
to the control algorithm choice:
–
2 times for FOC mode control
–
4 times for 6-step mode control
After the confirmation of control algorithm selected, the system is ready to start.
3.3
6.
Push the blue button on NUCLEO-F302R8 (B1) and the motor starts to spin.
7.
Rotate the potentiometer on X-NUCLEO-IHM07M1 board in order to regulate the motor
speed.
Hardware settings
TheTable 1 shows the jumper configuration on X-NUCLEO-IHM07M1 board (see also
Figure 6: X-NUCLEO-IHM07M1 – top layer with silk-screen and Figure 7: X-NUCLEOIHM07M1 connectors view). According to the jumpers selection, it is possible to choose the
c.
For a different motor (>12V) it is mandatory to remove the jumper J9 on power board, before the power-on, to
avoid to damage the NUCLEO-F302R8 board. To supply the STM32-NUCLEO from USB, the jumper JP5 must
be connected between PIN 1 and PIN2. For further details on Nucleo settings refer to UM1724 available from
ST web site www.st.com.
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1-shunt or 3-shunt mode, the current sensing circuit offset level, the hall/encoder with pullup or the external supply for NUCLEO-F302R8 board.
Table 1. Jumper settings
Jumper
Permitted configurations
Default
condition
JP1(1)
Selection for FOC current sensing circuit. The default condition is for 6-Step
control algorithm
OPEN
JP2(1)
Selection for FOC current sensing circuit. The default condition is for 6-Step
control algorithm
OPEN
JP3
Selection for pull-up enabling in hall/encoder detection circuit
CLOSED
(2)
Selection to supply the Nucleo board through the X-NUCLEO-IHM07M1 *
CLOSED
J5(3)
Selection for 1-shunt or 3-shunt configuration (single shunt by default)
2-3
CLOSED
J6(3)
Selection for 1-shunt or 3-shunt configuration (single shunt by default)
2-3
CLOSED
J9
J7
Debug connector for DAC
OPEN
1. JP1 and JP2 selection between FOC or 6-step current sensing circuit. It must be both closed (FOC
selection) or both open (6-step selection - default setting)
2. It is recommended to verify that power supply voltage is not higher than 12V dc, in order to avoid damaging
on NUCLEO-F302R8 board. For further details on Nucleo settings refer to UM1724 available from ST web
site www.st.com.
3. J5 and J6 must have both the same configuration. Both 1-2 for three shunt configuration. Both 2-3 for
single shunt configuration. On the silkscreen the correct position for three and for single shunt is indicated.
Also the default position is indicated.
The Table 2 shows the main connector on X-NUCLEO-IHM07M1 board.
Table 2. Screw terminal table
Screw terminal
Function
J1
Motor power supply input (8V÷48V)
J2
3-phase motor connector (U,V,W)
The X-NUCLEO-IHM07M1 is based on ST morpho connector, male pin headers (CN7 and
CN10) accessible on both sides of the board. They can be used to connect this power board
to NUCLEO-F302R8 board. All signals and power pins for MCU are available on ST morpho
connector. For further details refer to UM1724 document (section 5.12 ST morpho
connector) available on website www.st.com.
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Basic user - Getting started
Figure 6. X-NUCLEO-IHM07M1 – top layer with silk-screen
Table 3. Connectors description
Part reference
Description
CN7
ST morpho connector
CN6
Arduino UNO connector
CN8
Arduino UNO connector
U11
L6230 driver
U10
TSV994IPT op. amp.
J1
Power supply connector
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Table 3. Connectors description (continued)
Part reference
Description
J9
Enable VIN supply voltage
JP1, JP2
Jumpers for FOC
SPEED
Potentiometer
CN10
ST morpho connector
CN5
Arduino UNO connector
CN9
Arduino UNO connector
J2
Motor connector
J3
Hall/Encoder sensor connector
J7
Debug connector
JP3
External pull-up for sensors
J5, J6
Current measure mode (1Sh/3Sh)
D11
LED status indicator
Figure 7. X-NUCLEO-IHM07M1 connectors view
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3.4
Basic user - Getting started
Upload the firmware example
The motor control Nucleo Pack example firmware is pre-loaded in NUCLEO-F302R8 board.
As described in the previous section, it performs two different algorithms to run the motor, 6step (trapezoidal control) or FOC (Field Oriented Control). This chapter describes the
procedure to reload the firmware demonstration inside the NUCLEO-F302R8 board, in
order to restart by default condition. There are two ways to do it: one is through ST-LINK tool
(free download available from ST web site: www.st.com), and one with drag & drop function
(suggested).
3.4.1
3.4.2
Drag & drop procedure:
1.
Install ST-LINK drivers from www.st.com website.
2.
On the NUCLEO-F302R8 board put JP5 jumper in U5V position.
3.
Plug the NUCLEO-F302R8 Board to the host PC using a micro USB cable. If the STLINK driver is correctly installed, it will be recognized as an external memory device
called "NUCLEO" or similar.
4.
Take the binary file of the firmware demonstration (P-NUCLEO-IHM001.bin) and drag
and drop the file into the "NUCLEO" device listed inside the disk drives list (this is
showed by clicking the Start button of Windows OS interface), contained into X-CUBESPN7 firmware pack.
5.
Wait until flashing is complete.
ST-LINK tool:
1.
Open "ST-LINK tool".
2.
Connect NUCLEO-F302R8 board to PC with a USB type A to Mini-B cable through
USB connector (CN1) on NUCLEO-F302R8 board.
3.
Make sure that the embedded ST-LINK/V2 is configured for in-system programming on
NUCLEO-F302R8 board (both CN2 jumpers ON).
4.
Use “P-NUCLEO-IHM001.bin“ binary file to upload the code inside STM32, the window
will appear as shown in Figure 8.
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Figure 8. ST-LINK utility tool
5.
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Click on Target and Program buttons (see Figure 9: ST-LINK utility tool programming
environment).
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Basic user - Getting started
Figure 9. ST-LINK utility tool programming environment
6.
Click on Start and the firmware will be uploaded successfully.
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4
Advanced user - 6-step and FOC control algorithm
settings
4.1
6-step firmware based on X-CUBE-SPN7
4.1.1
Firmware architecture overview
The firmware example in X-CUBE-SPN7 is provided for three different IDE tools, in this
case the IAR™ IDE workspace appears as shown in Figure 10.
Figure 10. 6-step firmware – Project workspace on IAR
The firmware solution is built around three independent levels that can easily interact with
each others as described in the below Figure 11: Generic firmware architecture:
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Figure 11. Generic firmware architecture
Level 0:
This level is divided into three sub-layers:

Board Support Package (BSP): this layer offers a set of APIs relative to the hardware
components in the hardware boards (Audio codec, IO expander, Touchscreen, SRAM
driver, LCD drivers. etc…) and composed of two parts:
–
Component: is the driver relative to the external device on the board and not
related to the STM32. The component driver provides specific APIs to the BSP
driver external components and could be portable on any other board. In this case
(X-NUCLEO-IHM07M1) the ST L6230 driver has been provided inside the
firmware package.
–
BSP driver: it allows to link the component driver to a specific board and provides
a set of friendly used APIs. The APIs naming rule is BSP_FUNCT_Action(): ex.
BSP_LED_Init(),BSP_LED_On().
It is based on modular architecture, allowing to port it easily on any hardware by just
implementing the low level routines.

Hardware Abstraction Layer (HAL): this layer provides the low level drivers and the
hardware interfacing methods to interact with the upper layers (application, libraries
and stacks). It provides a generic, multi instance and functionalities oriented APIs
which permit to offload the user application implementation, by providing ready to use
process. For example, for the communication peripherals (I2S, UART…) it provides
APIs allowing to initialize and configure the peripheral, manage data transfer based on
polling, interrupt or DMA process, and manage communication errors that may raise
during communication. The HAL drivers APIs are splitted in two categories: generic
APIs which provides common and generic functions to all the STM32 series and
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extension APIs, which provides specific and customized functions for a specific family
or a specific part number.

Basic peripheral usage examples: this layer encloses the examples built over the
STM32 peripheral using only the HAL and BSP resources.
Level 1:
This level is divided into two sub-layers:

Middleware components: set of Libraries covering USB Host and device libraries,
STemWin, FreeRTOS, FatFS, LwIP, and PolarSSL. Horizontal interactions between the
components of this layer is done directly by calling the feature APIs, while the vertical
interaction with the low level drivers is done through specific callbacks and static
macros, implemented in the library system call interface. For example, the FatFs
implements the disk I/O driver to access microSD drive or the USB Mass Storage
Class.The middleware components provided with the X-CUBE-SPN7 package contain
the core of the motor control algorithm: 6-step library (6Step_Lib.c/h) and interface files
(stm32f302_ihm07m1.c/h). The interface file includes the map of STM32 MCU
peripherals used (for instance, advanced TIMx, general TIMx, ADCx, DACx, UART
etc.) to operate with the MC SixStep library. This file must be updated according with
the modification done by the user through STM32CubeMX software, if channels or
peripherals will be modified respect to the default configuration. At middleware level a
serial communication based on UART with external PC terminal emulator has been
included in X-CUBE-SPN7 package (see the UART_UI.c/h).

Examples based on the middleware components: each middleware component
comes with one or more examples (called also Applications), showing how to use it.
Integration examples that use several middleware components are provided as well.
This folder is created with STM32CubeMX software and it contains the main file for
firmware initialization (peripherals, MC_6Step and UART communication). In addition a
specific file (MC_SixStep_param.h) has been added to provide the complete list of
parameters for MC-6Step library at application level. Inside the stm32fxxx_it.c file all
interrupt handlers are defined and in particular it contains the starting point for UART
communication.
Level 2:
This level is composed of a single layer which is global real-time and graphical
demonstration based on the middleware service layer, the low level abstraction layer and
the basic peripheral usage applications for board based functionalities.
The Figure 12: X-CUBE-SPN7 software architecture shows the firmware architecture of XCUBE-SPN7 package, including also the HW components level.
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Figure 12. X-CUBE-SPN7 software architecture
4.1.2
Firmware parameter settings to spin different BLDC motors
The firmware example provided for P-NUCLEO-IHM001 kit is tuned for low inductance/high
speed motor (reference part: Bull-Running model BR2804-1700kV, 11.1Vdc, 5A, 7 pole
pairs, 19000 MaxRPM speed). The X-CUBE-SPN7 firmware package is developed to
simplify the way to spin a different kind of motors with only few changes. In this case, a
header file (MC_SixStep_param.h) contained inside X-CUBE-SPN7, includes several
parameters organized in two sections: basic and advanced. In the first section it is possible
to change the main parameters: for instance, motor pole pairs, clockwise or counter
clockwise motor direction, target speed or potentiometer selection. In the advanced section,
it is possible to set the PI parameters, define the alignment time or the acceleration rate
during startup, change the zero crossing threshold and a lot of parameters usefully for
system fine tuning.
In case of different motor connected or different load condition, after the reset or power-on,
the firmware is able to reduce the acceleration rate if startup fails and, at the next push
button event (on NUCLEO-F302R8 board), a new value speed profile will be generated.
After this changes the firmware is ready to be recompiled with IDE tool and uploaded in
NUCLEO-F302R8 board.
4.1.3
Inside the 6-step firmware
The main.c file contains the starting point of 6-step library for motor control, in particular the
MC_SixStep_INIT() configures the basic structure of MC driver based on 6-step control
algorithm and the header file (6Step_Lib.h) provides the connection between the application
layer with this driver. The stm32f3xx_it.c file includes the entry point for UART
communication and the handling code for BKIN interrupt. Inside the example folder the
stm32F302_nucleo_ihm07m1.c contains all the MCU related functions, header files and the
complete list of the peripherals used.
DocID028309 Rev 1
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Advanced user - 6-step and FOC control algorithm settings
UM1945
The core of 6-step algorithm is contained inside the middleware folder (6Step_Lib.c) and its
header file has the complete list of API functions available for the user at application level,
for instance MC_StartMotor(),MC_StopMotor() or MC_SetSpeed(value).
At the base of MC driver three main tasks run at different frequency and with different
priority level, according to the specific function to cover, in particular:
4.1.4
1.
High frequency task: it is dedicated for the high frequency function (advanced TIMx
PWM generation, ADC reading) and it is managed at highest priority. This frequency is
changeable through the STM32CubeMX software, i.e. TIM1_ARR.
2.
Medium frequency task: it is dedicated for the medium frequency function (general
TIMx for step timing) and it is managed at medium priority. This frequency is
changeable through the STM32CubeMX software, i.e. TIM6_ARR (for NUCLEOF302R8 board).
3.
Low frequency task: it is dedicated for the low frequency function (SysTick timer for
Speed Loop timing) and it is managed at lowest priority. The
MC_SysTick_SixStep_MediumFrequencyTask() is called at SysTick frequency
(1msec), while the speed loop function is managed by SPEED_LOOP_TIME (msec)
defined in MC_SixStep_param.h file.
DAC settings for debug
For debug purpose it is possible to use the DAC peripheral and configure the 6-step library,
in order to drive the signal. The function SET_DAC_value(dac_value) allows to convert the
variable “dac_value” in 16-bit format (with no sign) in analog signal so it is possible to
monitor for instance the motor speed (set by default) or the potentiometer value through an
external oscilloscope attached at configured pin. By default PA4 pin is configured and it is
accessible through the ST morpho connector and it is typically connected to DAC_CH1
(NUCLEO-F302R8 board). Other pin are available at J7 connector according with the
NUCLEO-F302R8 board used. For pin modification remember to modify also the
stm32F302_nucleo_ihm07m1.h file. The DAC peripheral is on by default but it is possible to
disable it through the MC_SixStep_param.h.
4.2
ST FOC SDK – Configuration guide for P-NUCLEO-IHM001
The demonstration board supports also the ST FOC library and no hardware modification is
needed to run the motor with this control algorithm. In this case it is only needed to configure
the board for current sensing (1-shunt or 3-shunt mode) and select the JP1, JP2 jumpers,
according to the jumper settings shown on Table 1: Jumper settings. It is also available the
support of MC Workbench software through the USB cable used for the NUCLEO
programming. In this case it is recommended to configure the FOC SDK for USART2 on
PA2 and PA3 pin.
For further information about ST FOC SDK library refer to STSW-STM32100 document on
ST website: www.st.com.
20/27
DocID028309 Rev 1
Electrical schematics
UM1945
5
Figure 13. Current sense conditioning circuit
3V3
3V3
C1
C2
100nF10V
C3
Vshunt_1
4.7uF 10V
4
R1
2.2k
680pF 10V
R2
680
3
2
U10A
1
+
Curr_f dbk1
-
TSV994IPT
0
R3
11
R4
2.2k
3V3
4
3V3
R5
12
2.2k
13
C4
N.M. 100pF/6.3V
-
11
680pF 10V
Vshunt_2
U10D
14
+
TSV994IPT
C5
3V3
CP+
4
R6
2.2k
5
R7
680
6
U10B
7
+
R8
0
-
Curr_f dbk2
TSV994IPT
R9
2.2k
11
DocID028309 Rev 1
JP1
FOC
R10
JP2
FOC
2.2k
R11
2.2k
3V3
C6
N.M. 100pF/6.3V
C7
R13
680
3V3
10
9
U10C
8
+
-
TSV994IPT
11
R15
2.2k
R16
2.2k
C8
N.M. 100pF/6.3V
R14
0
Curr_f dbk3
21/27
Electrical schematics
Vshunt_3
R12
2.2k
4
680pF 10V
Electrical schematics
22/27
Figure 14. Sensors and shunt resistor circuit
VIN+
R17
169K 1%
VBUS SENSOR
VBUS_SENS
VBUS
Temperature f eedback
R18
C14
4.7nF/10V
HALL/ENCODER SENSOR
C10
3V3
9.31K 1%
10nF 10V
1
R19
2
3V3
JP3
R20
4K7
3V3
JUMPER
NTC 10K
D2
R31
1k8
C21
10pF 10V
J4
C20
5V
10pF 10V
R32
1k8
C19
100n
D4
A+/H1
B+/H2
Z+/H3
10pF 10V
Stripline m. 1x5
R30
1k8
D3
BAT30KFILM
1
2
3
4
5
R29
10k
BAT30KFILM
DocID028309 Rev 1
J3
A+/H1
B+/H2
Z+/H3
5V
GND
R28
10k
BAT30KFILM
R27
10k
R33
R34
R35
C22
4K7 N.M. 4K7 N.M.
4K7 N.M.
1
RING
SPEED REGULATION
3V3
SHUNT RESISTOR
Vshunt_1
R42
100K
SPEED
SPEED
Vshunt_2
R43
0.33 1W
Vshunt_3
R44
0.33 1W
R45
0.33 1W
UM1945
J1
100nF/100V
3
C12
10n 100V
1
1
D1
SMBD 7000
J16
RING
CP+
CPCPOUT
CP+
R21
33K
3V3
C16
100n,6.3V
IN1
EN1
IN1
EN1
13
28
24
9
10
GND
GND
GND
GND
EN3
IN3
EN2
IN2
CP+
CPCPOUT
IN1
EN1
R24
39k
R23
10K
SENS1
SENS2
SENS3
VSB
VSA
VBOOT
VCP
DIAG/EN
CPOUT
SENS1
SENS2
SENS3
1
36
19
18
29
11
27
26
Vshunt_2
3V3
EN3
IN3
EN2
IN2
EN3
IN3
EN2
IN2
22
R22
10K
DIAG/EN
R26
39k
C17
1nF/6.3V
3
2
1
DocID028309 Rev 1
C18
10n-N.M.
12
8
25
R25
39k
OUT1 15
OUT2 5
OUT3 32
CURRENT REF
L6230 DMOS driver
for three-phase brushless
DC motor
33
4
30
7
2
C11
100nF/100V
OUT1
OUT2
OUT3
U11
L6230PD
C9
C15
100uF, 63V
C13
N.C.
N.C.
N.C.
N.C.
N.C.
N.C.
N.C.
N.C.
N.C.
N.C.
N.C.
N.C.
EP
220nF, 16V
D12
SMBJ48A-TR
21
31
17
35
34
23
2
16
3
6
14
20
37
VIN+
2
1
CON2
UM1945
Figure 15. L6230 driver and BEMF detection circuit
Motor J2
3V3
D5
BAT30KFILM
3V3
C23
0.1uF/6.3V
OUT1
GPIO_BEMF
3V3
GPIO_BEMF
D6
BAT30KFILM
D7
BAT30KFILM
R36
2.2k
R39
10k
BEMF DETECTION - 6-STEP
BEMF1
GPIO_BEMF
3V3
GPIO_BEMF
D8
BAT30KFILM
D9
BAT30KFILM
OUT2
CON3
3sh
1sh
J5
1
2
3
R40
10k
BEMF2
CON3
Vshunt_1
SENS1
Vshunt_2
GPIO_BEMF
D10
BAT30KFILM
R38
2.2k
R37
2.2k
BEMF1
GPIO_BEMF
3sh
1sh
1
2
3
OUT3
R41
10k
BEMF3
BEMF3
Vshunt_3
SENS3
Vshunt_2
J6
Electrical schematics
23/27
Currents
PWM
PA11 R46
0
R302 R49
0
R53
0
R56
0R 58
0
C10_14
C7_28
C7_36
C7_38
C7_30
C7_35
F302
C10_28
C10_13
C10_23
C7_1
PA6-BKIN
PA8-UH
PC10
PA9-VH
PC11
R64
R67
0
0
R70
0R 72
0
C10_21
C7_2
C10_33
C7_3
PA10-WH
PC12
DIAG/EN
Vshunt_1
IN2
EN2
DocID028309 Rev 1
0
0
0
Curr_f dbk1
Curr_f dbk2
Curr_f dbk3
VBUS
Temperature f eedback
3V3
R62 N.M.13K 1%
R65
0
R73
0
C10_15
R69
C7_37
C7_34
C10_15
C10_26
IN3
EN3
PA15 - Enc. A/H1
PB3 - Enc. B/H2
PB10 - Enc. Z/H3
PB0 - EmbPGA R74
N.N. 4.99K
PC3 - ADC
PB0 - ADC
PA7 - ADC
R302
0
0
0
0
F302
CPOUT
GPIO_BEMF
R59
R60
R63
R66
BEMF1
BEMF2
BEMF3
BEMF 6-step
A+/H1
B+/H2
Z+/H3
C10_11
C10_30
C10_29
PA4- DAC
PB4-PWM
0-N.M. R76
0 R77
C7_32
C10_27
N.M.13K 1%
CURRENT REF
C10_24
1
2
3
PA5 - DAC
PA5/PB13
PB5-DAC PWM
0 R80
R302 0 R82
0 R85
F302
J8
RING
C10_22
CN10
C10_1
C10_3
C10_5
C10_7
C10_9
C10_11
C10_13
C10_15
C10_17
C10_19
C10_21
C10_23
C10_25
C10_27
C10_29
C10_31
C10_33
C10_35
C10_37
0 R78
PB2
R83
510
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
SPEED
D11
RED
J9
2
5V
ARDUINO/MORPHO CONNECTOR
C7_2
C7_4
C7_18
10
E5V C7_6
C5_10
CN5
9
C7_8
3V3
C5_9
CN6
8
N.C. C7_10
C6_1 N.C. 1
C5_8
7
C7_12
C6_2 +3V3 2
C5_7
3
6
C7_14
C6_3
C5_6
4
5
C7_16
C6_4
C5_5
5
4
C7_18
C6_5
C5_4
6
3
C7_20
C6_6
C5_3
7
2
C7_22
C6_7
C5_2
8
1
C7_24
C6_8
C5_1
8
C7_26
C9_8
1
7
C7_28
C8_1
C9_7
2
6
C7_30
C8_2
C9_6
3
5
C7_32
C8_3
C9_5
4
4
C7_34
C8_4
C9_4
5
3
C7_36
C8_5
C9_3
6
2
C7_38
C8_6
C9_2
1
C9_1
CN8
CN9
PB1
J7
Stripline m. 1x3
1
CN7
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
0 R55
N.M.13K 1%
C7_34
R75
VIN+
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
PC9 - GPIO
F302
DAC/REF
C7_1
C7_3
C7_5
C7_7
C7_9
C7_11
C7_13
C7_15
C7_17
C7_19
C7_21
C7_23
C7_25
C7_27
C7_29
C7_31
C7_33
C7_35
C7_37
PA12- TIM1 ETR 0 R52
C10_12
C10_1
C7_30
N.N. 4.99K
PA1 - EmbPGA R61
N.N. 4.99K
PA7 - EmbPGA R68
Vshunt_2
R302
C10_26
R71 0-N.M.
HALL/ENCODER SENSOR
R79
R81
R84
R47
R48
R50
R51
R54
0 R57
IN1
EN1
Vshunt_3
C7_17
C10_31
C10_25
PA0 - PhA
0
PC1 - PhB
0
PC0 - PhC
0
PA1 - BUSV
0
PC2 - Temp. Sens.0
Electrical schematics
24/27
Figure 16. STM32 MCU pin assignment
1
VIN
C7_24
OPEN BY DEFAULT
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
C10_2
C10_4
C10_6
C10_8
C10_10
C10_12
C10_14
C10_16
C10_18
C10_20
C10_22
C10_24
C10_26
C10_28
C10_30
C10_32
C10_34
C10_36
C10_38
If J9 ON:
1) 12VMAX ON J1
2) JP5 (Nucleo pin 2,3)
2) JP1 (Nucleo) Removed
STM32 NUCLEO PART USED
PC13 - START/STOP (B1 BUTTON)
RESET - MCU RST (B2 BUTTON)
UM1945
UM1945Federal Communications Commission (FCC) and Industry Canada (IC) Compliance State-
Appendix A
Federal Communications Commission (FCC)
and Industry Canada (IC) Compliance
Statements
A.1
FCC Compliance Statement
A.1.1
Part 15.19
This device complies with Part 15 of the FCC Rules. Operation is subject to the following
two conditions: (1) this device may not cause harmful interference, and (2) this device must
accept any interference received, including interference that may cause undesired
operation.
A.1.2
Part 15.105
This equipment has been tested and found to comply with the limits for a Class B digital
device, pursuant to part 15 of the FCC Rules. These limits are designed to provide
reasonable protection against harmful interference in a residential installation. This
equipment generates uses and can radiate radio frequency energy and, if not installed and
used in accordance with the instructions, may cause harmful interference to radio
communications. However, there is no guarantee that interference will not occur in a
particular installation. If this equipment does cause harmful interference to radio or
television reception, which can be determined by turning the equipment off and on, the user
is encouraged to try to correct the interference's by one or more of the following measures:
A.1.3

Reorient or relocate the receiving antenna.

Increase the separation between the equipment and the receiver.

Connect the equipment into an outlet on a circuit different from that to which the
receiver is connected.

Consult the dealer or an experienced radio/TV technician for help.
Part 15.21
Any changes or modifications to this equipment not expressly approved by
STMicroelectronics may cause harmful interference and void the user’s authority to operate
this equipment.
A.2
IC Compliance Statement
A.2.1
Compliance Statement
Industry Canada ICES-003 Compliance Label: CAN ICES-3 (B)/NMB-3(B)
A.2.2
Déclaration de conformité
Étiquette de conformité à la NMB-003 d’Industrie Canada: CAN ICES-3 (B)/NMB-3(B)
DocID028309 Rev 1
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Revision History
6
UM1945
Revision History
Table 4. Document Revision History
26/27
Date
Version
22-Sep-2015
1
Revision Details
Initial version
DocID028309 Rev 1
UM1945
IMPORTANT NOTICE – PLEASE READ CAREFULLY
STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, enhancements, modifications, and
improvements to ST products and/or to this document at any time without notice. Purchasers should obtain the latest relevant information on
ST products before placing orders. ST products are sold pursuant to ST’s terms and conditions of sale in place at the time of order
acknowledgement.
Purchasers are solely responsible for the choice, selection, and use of ST products and ST assumes no liability for application assistance or
the design of Purchasers’ products.
No license, express or implied, to any intellectual property right is granted by ST herein.
Resale of ST products with provisions different from the information set forth herein shall void any warranty granted by ST for such product.
ST and the ST logo are trademarks of ST. All other product or service names are the property of their respective owners.
Information in this document supersedes and replaces information previously supplied in any prior versions of this document.
© 2015 STMicroelectronics – All rights reserved
DocID028309 Rev 1
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