PWM pins are incorrectly mapped

[osugiw]

I’m using Nucleo-STM32G431RB and the board controller from the Infineon PMSM_LV_15W_Card. All the physical wiring and pin assignment are correctly matched with 6 PWM pins capabilities, but the Software initialization tell me that some pins don’t support Timer for PWM (Pin 26 = PB10). While based on ST Datasheet that pin support for PWM.

Serial Monitor Output:

This is my platform.ini:

[env:nucleo_g431rb]
platform = ststm32
board = nucleo_g431rb
framework = arduino
debug_tool = stlink
monitor_speed = 115200
upload_protocol = stlink
lib_deps = askuric/Simple FOC@^2.3.4
lib_archive = false

My Code:

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

/* Hall Sensor Pins */
#define PIN_HALL_A PA_0
#define PIN_HALL_B PA_1
#define PIN_HALL_C PA_4

/* BLDC Driver Pins */
#define PIN_PWM_LIN1 PB_3
#define PIN_PWM_LIN2 PB_4
#define PIN_PWM_LIN3 PB_10

#define PIN_PWM_HIN1 PC_7
#define PIN_PWM_HIN2 PB_6
#define PIN_PWM_HIN3 PA_7

/* Current Sense Pins */
#define PIN_ADC_IU PB_0
#define PIN_ADC_IV PC_1
#define PIN_ADC_IW PC_0

/* Motor Characteristics*/
#define POLE_PAIRS 4
#define PHASE_RESISTANCE 6.85 // (13.7 / 2)
#define PHASE_INDUCTANCE 3.865 // (7.73 / 2)
#define KV_RATING 195

/* Current Sense */
#define SHUNT_RESISTOR 0.05
#define GAIN_AMPLIFIER 16.4

// BLDCMotor( pole_pairs , ( phase_resistance, KV_rating optional) )
BLDCMotor motor = BLDCMotor(POLE_PAIRS, PHASE_RESISTANCE, KV_RATING, PHASE_INDUCTANCE);

// BLDCDriver6PWM( pin_pwmAH, pin_pwmAL, pin_pwmBH, pin_pwmBL, pin_pwmCH, pin_pwmCL, enable (optional))
BLDCDriver6PWM driver = BLDCDriver6PWM(PIN_PWM_HIN1, PIN_PWM_LIN1, PIN_PWM_HIN2, PIN_PWM_LIN2, PIN_PWM_HIN3, PIN_PWM_LIN3);

// HallSensor(int hallA, int hallB , int hallC , int pole pairs)
HallSensor sensor = HallSensor(PIN_HALL_A, PIN_HALL_B, PIN_HALL_C, POLE_PAIRS);

// LowsideCurrentSense(shunt_resistance, gain, adc_a, adc_b, adc_c)
LowsideCurrentSense current_sense = LowsideCurrentSense(SHUNT_RESISTOR, GAIN_AMPLIFIER, PIN_ADC_IU, PIN_ADC_IV, PIN_ADC_IW);

// Interrupt routine initialization
// channel A and B callbacks
void doA(){sensor.handleA();}
void doB(){sensor.handleB();}
void doC(){sensor.handleC();}

void setup() {
Serial.begin(115200); // use monitoring with the BLDCMotor
SimpleFOCDebug::enable(&Serial);

/* Initialize Hall Sensor */
sensor.init(); // initialize encoder hardware
sensor.enableInterrupts(doA, doB, doC); // hardware interrupt enable
motor.linkSensor(&sensor); // link the motor to the sensor

/* Initialize BLDC Driver */
driver.pwm_frequency = 20000; // pwm frequency to be used [Hz]
driver.voltage_power_supply = 18; // power supply voltage [V]
driver.voltage_limit = 18; // Max DC voltage allowed - default voltage_power_supply
int driverStatus = driver.init(); // driver init
Serial.printf(“Driver init status %d\n”, driverStatus);
motor.linkDriver(&driver); // link the motor to the driver

// current_sense.linkDriver(&driver); // link the driver with the current sense
// motor.linkCurrentSense(&current_sense); // link the motor to current sense
// motor.useMonitoring(Serial); // monitoring port

// motor.controller = MotionControlType::velocity; // set control loop type to be used
// motor.init(); // initialize motor
// current_sense.init(); // init current sense

// // align encoder and start FOC
// motor.initFOC();
}

void loop() {
// // FOC algorithm function
// motor.loopFOC();

// // velocity control loop function
// // setting the target velocity to 2rad/s
// motor.move(2);

// // monitoring function outputting motor variables to the serial terminal
// motor.monitor();
}

After changing the PB10 to other pin it appears as follow:

Thank you in advance!

[Antun_Skuric]

6PWM is very tricky and sensitive. Ensuring that all pins are capable of generating PWM is not enough.

You should make sure either to use the same timer for all 6 pins (typically timers 1 or 8) or have one timer per phase (per high/low pwm pair).

I believe that your pins do not blong to any of the two categories. Am I missing something?

Here is a link to our pin mapping docs for your stm32 variant: G431R(6-8-B)(I-T)_G441RB(I-T) Pinout | STM32 Pinouts

Here is the docs section that talks about choosing PWM pins for stm32.

Choosing PWM pins