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!