Hello everyone,
I tried building a controller referring to the B-G431-ESC1 and it seems to be working well (using current sensing, tested both position and velocity control). But I just realized my currentSense3+ and BEMF2 pins are swapped. I currently have CurrentSenseFeedback3+ connected to PC4 and BEMF2 connected to PB0 as per ST’s reference design of B-G431-ESC1, shown below.
But, ST’s library has them swapped, as shown below.
Also, somehow, the PCB design of B-G431-ESC1 has it correctly routed (not following the schematic)
You can see how the BEMF2 pin was connected to Pin-17 in the schematic, but the PCB has it routed to Pin-16 instead.
I can understand how the B-G431-ESC1 is working (because, even though the schematic maybe wrong, the PCB is correctly routed). But I don’t understand, how my controller is working (or seems like it’s working).
Anyone has any idea on this.
Thank you so much for what you guys are doing.