Hi everyone,
Been trying to get a STM Discovery board to work with SimpleFOC in sensorless (FOC or openloop) but with very little succes so far.
I’ve gone through the following :
-
Made sure that the discovery / motor / cabling is all good by driving with the STM motor development SDK ==> works a treat but I cannot find my way through the code to add the control functions I want.
-
Then got the whole VScode / PlatformIO out and followed the B-G431B-ESC1: Beginner guide + I2C guide from ultra robotics, added the board template, all the relevant files etc…
-
Managed to get some code compiling uploaded and running ont the board (just managed to get a Hello World through a Serial.println to make sure it was cycling)
===> But that’s pretty much where the fun stops, nothing seem to even drive the FETs, no significant consumption, obviously no motor rotation or even vibration, nothing…
- Tried different codes and settled on the one below which seemed to be the closest to working… The PID does get processed when I enter it on the terminal but nothing more…
The main.cpp is as follow
#include <Arduino.h>
#include <SimpleFOC.h>
#include
#include “stm32g4xx_hal.h”//local variable definitions
float target = 0.0; // used to change currently tested variable
int spinIt = 1; // iterator for the startup
int spinItSpeed = 1500; // rate of the startup, higher = slower
float radPerSec = 0; // driver the motor speed
int mxRads = 0; // max motor speed
int outIt = 0; //used for communication rate iterationBLDCMotor motor = BLDCMotor(10, .1);
BLDCDriver6PWM driver = BLDCDriver6PWM(A_PHASE_UH, A_PHASE_UL, A_PHASE_VH, A_PHASE_VL, A_PHASE_WH, A_PHASE_WL);/*controls the motor using the UART.
-g starts the motor and revs up to 300 rad/s,
-s stops the motor,
-and entering a number sets the P in pid to that number
-(currently not useful, but implemented for later tuning)
*/
void serialControl(){
static String received_chars;
while (Serial.available())
{
char inChar = (char)Serial.read();
received_chars += inChar;
if (inChar == ‘\n’)
{
float num = received_chars.toFloat();
if(received_chars == “s\n”){
radPerSec = 0;
mxRads = 0;
received_chars = “”;
Serial.println(“Stopping Motor.”);
break;
}
else if(received_chars == “g\n”){
radPerSec = 0;
mxRads = 300;
received_chars = “”;
Serial.println(“Starting Motor.”);
break;
}
else{
target = num;
Serial.print("PID.P = ");
Serial.println(target);
received_chars = “”;
}
}
}
}void setup()
{//initializes the psu and driver
driver.voltage_power_supply = 14.8;
driver.init();motor.linkDriver(&driver);
motor.voltage_limit = 14.8;
motor.velocity_limit = 2212;//Sets up openloop FOC
motor.controller = MotionControlType::velocity_openloop;
// set FOC modulation type to sinusoidal
motor.foc_modulation = FOCModulationType::SinePWM;motor.init();
motor.initFOC();
Serial.begin(1843200);
delay(1000);}
void loop()
{
//starts the motor moving at radPerSec
motor.loopFOC();
motor.move(radPerSec);
//this loop controls the rate at which the motor speeds up
if (spinIt%spinItSpeed == 0 && radPerSec<mxRads){
radPerSec++;
spinIt = 1;
}
else{
spinIt++;
}//motor.PID_velocity.P = target;
serialControl();
}
And here’s the platformio.ini :
[env:disco_b_g431b_esc1]
platform = ststm32
board = disco_b_g431b_esc1
framework = arduino
monitor_speed = 115200build_flags =
-D PIO_FRAMEWORK_ARDUINO_ENABLE_CDC
-D PIO_FRAMEWORK_ARDUINO_NANOLIB_FLOAT_PRINTF
; -D PIO_FRAMEWORK_ARDUINO_USB_HIGHSPEED_FULLMODElib_deps =
askuric/Simple FOC@^2.3.4
simplefoc/SimpleFOCDrivers@^1.0.8
lib_archive = false
Thanks for the heads up if anything looks weird…
The motor is running well under the STM SDK.