Help with VESC 4.12 board

I’m really stumped getting SimpleFOC working on a VESC 4.1.2 board (stm32f405+ 6pwm drv8302). I’ve been trying a week and feel as if I’m missing something really small! I’ve got hall sensors + serial working but the drv8302 just doesn’t want to switch on! They draw no current.

The board is actually a clone:

I can get it working with Benjamin Vedder’s VESC firmware (4.1.2) so I know the hardware is good!

Schematic:

My clock and pins are:

#include <Arduino.h>

void SystemClock_Config(void)
{
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

#define SENS3         PA0
#define SENS2         PA1
#define SENS1         PA2
#define ADC_TEMP      PA3
#define SPI1_NSS      PA4 // Warning Connected to: TX_SDA_NSS
#define SPI1_SCLK     PA5 
#define SPI1_MISO     PA6 // WARNING Connected to: MISO_ADC_EXT2
#define SPI1_MOSI     PA7 // WARNING Connected to: RX_SCL_MOSI
#define H3            PA8
#define H2            PA9
#define H1            PA10
#define USB_DM        PA11
#define USB_DP        PA12
#define BR_SO2        PB0
#define BR_SO1        PB1
#define SERVO         PB5 // REUSE? e.g. SPI SS
#define HALL_1        PB6 // can possible be used as I2C1_SCL or USART1_TX
#define HALL_2        PB7 // can possible be used as I2C1_SDA or USART1_RX
#define CAN_RX        PB8
#define CAN_TX        PB9

#define I2C2_SCL      PB10 // or USART3_TX  // WARNING Connected to: RX_SCL_MOSI
#define I2C2_SDA      PB11 // or USART3_RX  // WARNING Connected to: TX_SDA_NSS

#define DC_CAL        PB12
#define L3            PB13
#define L2            PB14
#define L1            PB15
#define TEMP_MOTOR    PC0 // REUSE? e.g. SPI SS
#define AN_IN         PC2
#define LED_GREEN     PC4
#define LED_RED       PC5
#define USART6_TX     PC6 // WARNING Connected to: TX_SDA_NSS
#define USART6_RX     PC7 // WARNING Connected to: RX_SCL_MOSI 
#define EN_GATE       PC10
#define HALL_3        PC11
#define FAULT         PC12
#define SWDIO         PA13
#define SWCLK         PA14

and velocity_openloop code here:

#include <Arduino.h>
#include <vesc_4_12.h>
#include <SimpleFOC.h>

HardwareSerial serial6(USART6_RX, USART6_TX);

BLDCMotor motor(15);
BLDCDriver6PWM driver(H1, L1, H2, L2, H3, L3, EN_GATE);

void setup() {

  pinMode(FAULT, INPUT);
 
  serial6.begin(115200);
  delay(1000);
  motor.useMonitoring(serial6);
  serial6.println("Setup");

  serial6.print("Fault: ");  serial6.println(digitalRead(FAULT));

  driver.voltage_power_supply = 25;
  driver.init();
  motor.linkDriver(&driver);
  motor.voltage_limit = 1.5;   // [V]
  motor.velocity_limit = 20; // [rad/s]
  motor.controller = ControlType::velocity_openloop;
  motor.init();

  }

void loop() {

  motor.move(1.0);

  static long last = 0;
  long now = millis();

  if (now - last>1000) {
    serial6.print(" Fault: ");  serial6.println(digitalRead(FAULT));
    last = now;
  }
}

It would be great if we could run SimpleFOC on these VESC boards! They are super powerful!

Hi @Owen_Williams,
Have you tried to put DC_CAL at 0V, in setup():

digitalWrite(DC_CAL, LOW);
pinMode(DC_CAL, OUTPUT);

Because I didn’t see the configuration of this pin in your program ?

If DC_CAL equals HIGH (it is the case if not configured), “the device shorts inputs of shunt amplifiers and disconnects loads. DC offset calibration can be done through external microcontroller.” written in the data sheet specification of DRV8302.

Thanks for the suggestion @Marc_O, but it was something else…

Found it!!

I’m using the genericSTM32F405RG board as it is closest to VESC and it maps two of my PWM pins PB15 and PB14 to TIM12. By overiding the weak definition I got a moving motor!!

const PinMap PinMap_PWM[] = {
  {PA_0,  TIM2,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM2, 1, 0)}, // TIM2_CH1
  //  {PA_0,  TIM5,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM5, 1, 0)}, // TIM5_CH1
  //  {PA_1,  TIM2,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM2, 2, 0)}, // TIM2_CH2
  {PA_1,  TIM5,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM5, 2, 0)}, // TIM5_CH2
  //  {PA_2,  TIM2,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM2, 3, 0)}, // TIM2_CH3
  {PA_2,  TIM5,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM5, 3, 0)}, // TIM5_CH3
  //  {PA_2,  TIM9,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM9, 1, 0)}, // TIM9_CH1
  //  {PA_3,  TIM2,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM2, 4, 0)}, // TIM2_CH4
  {PA_3,  TIM5,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM5, 4, 0)}, // TIM5_CH4
  //  {PA_3,  TIM9,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM9, 2, 0)}, // TIM9_CH2
  {PA_5,  TIM2,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM2, 1, 0)}, // TIM2_CH1
  //  {PA_5,  TIM8,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM8, 1, 1)}, // TIM8_CH1N
  //  {PA_6,  TIM3,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM3, 1, 0)}, // TIM3_CH1
  {PA_6,  TIM13,  STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF9_TIM13, 1, 0)}, // TIM13_CH1
  //  {PA_7,  TIM1,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM1, 1, 1)}, // TIM1_CH1N
  //  {PA_7,  TIM3,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM3, 2, 0)}, // TIM3_CH2
  //  {PA_7,  TIM8,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM8, 1, 1)}, // TIM8_CH1N
  {PA_7,  TIM14,  STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF9_TIM14, 1, 0)}, // TIM14_CH1
  {PA_8,  TIM1,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM1, 1, 0)}, // TIM1_CH1
  {PA_9,  TIM1,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM1, 2, 0)}, // TIM1_CH2
  {PA_10, TIM1,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM1, 3, 0)}, // TIM1_CH3
  {PA_11, TIM1,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM1, 4, 0)}, // TIM1_CH4
  {PA_15, TIM2,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM2, 1, 0)}, // TIM2_CH1
  //  {PB_0,  TIM1,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM1, 2, 1)}, // TIM1_CH2N
  //  {PB_0,  TIM3,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM3, 3, 0)}, // TIM3_CH3
  {PB_0,  TIM8,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM8, 2, 1)}, // TIM8_CH2N
  //  {PB_1,  TIM1,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM1, 3, 1)}, // TIM1_CH3N
  //  {PB_1,  TIM3,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM3, 4, 0)}, // TIM3_CH4
  {PB_1,  TIM8,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM8, 3, 1)}, // TIM8_CH3N
  {PB_3,  TIM2,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM2, 2, 0)}, // TIM2_CH2
  {PB_4,  TIM3,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM3, 1, 0)}, // TIM3_CH1
  {PB_5,  TIM3,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM3, 2, 0)}, // TIM3_CH2
  {PB_6,  TIM4,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM4, 1, 0)}, // TIM4_CH1
  {PB_7,  TIM4,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM4, 2, 0)}, // TIM4_CH2
  {PB_8,  TIM4,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM4, 3, 0)}, // TIM4_CH3
  //  {PB_8,  TIM10,  STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM10, 1, 0)}, // TIM10_CH1
  //  {PB_9,  TIM4,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM4, 4, 0)}, // TIM4_CH4
  {PB_9,  TIM11,  STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM11, 1, 0)}, // TIM11_CH1
  {PB_10, TIM2,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM2, 3, 0)}, // TIM2_CH3
  {PB_11, TIM2,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM2, 4, 0)}, // TIM2_CH4
  {PB_13, TIM1,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM1, 1, 1)}, // TIM1_CH1N
   {PB_14, TIM1,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM1, 2, 1)}, // TIM1_CH2N
  //  {PB_14, TIM8,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM8, 2, 1)}, // TIM8_CH2N
  // {PB_14, TIM12,  STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF9_TIM12, 1, 0)}, // TIM12_CH1
   {PB_15, TIM1,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF1_TIM1, 3, 1)}, // TIM1_CH3N
  //  {PB_15, TIM8,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM8, 3, 1)}, // TIM8_CH3N
  // {PB_15, TIM12,  STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF9_TIM12, 2, 0)}, // TIM12_CH2
  {PC_6,  TIM3,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM3, 1, 0)}, // TIM3_CH1
  //  {PC_6,  TIM8,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM8, 1, 0)}, // TIM8_CH1
  //  {PC_7,  TIM3,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM3, 2, 0)}, // TIM3_CH2
  {PC_7,  TIM8,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM8, 2, 0)}, // TIM8_CH2
  {PC_8,  TIM3,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM3, 3, 0)}, // TIM3_CH3
  //  {PC_8,  TIM8,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM8, 3, 0)}, // TIM8_CH3
  //  {PC_9,  TIM3,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF2_TIM3, 4, 0)}, // TIM3_CH4
  {PC_9,  TIM8,   STM_PIN_DATA_EXT(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF3_TIM8, 4, 0)}, // TIM8_CH4
  {NC,    NP,    0}
};

Very happy!
I’ll probably submit another board variant to stm32duino so that this board is easier to use.