ST / Mbed 2 deprecated HelloWorld_IHM07M1

Example application for X-NUCLEO-IHM07M1 board connected to a 3-phase brushless motor with Hall sensors.

Dependencies:   BLDCmotorDriver RateLimiter mbed

Fork of HelloWorld_IHM07M1 by Antonio Vilei

Getting Started with X-NUCLEO-IHM07M1

This example demonstrates how to use the X-NUCLEO-IHM07M1 component with one of the STM32 Nucleo-64 platforms and a three-phase brushless DC (BLDC) motor with Hall sensors.

HW Prerequisites

  • X-NUCLEO-IHM07M1
  • STM32 Nucleo-64 board
  • external DC power supply
  • low voltage three-phase BLDC motor with Hall sensors

X-NUCLEO-IHM07M1 Jumpers Configuration

/media/uploads/avilei/x-nucleo-ihm07m1_jumpers.jpg
Configure the jumpers of your X-NUCLEO-IHM07M1 board as shown below:

  • JP1 open
  • JP2 open
  • JP3 closed
  • J9 closed
  • J5 closed on 2-3 (single shunt)
  • J6 closed on 2-3 (single shunt)
  • J7 open

For more details please refer to the X-NUCLEO-IHM07M1 user manual.

BLDCmotorDriver Library

This example is based on the BLDCmotorDriver motor control library by the TVZ Mechatronics Team, University of Applied Sciences Zagreb, Professional Study in Mechatronics. The BLDCmotorDriver library is a simple implementation of the six-step algorithm and needs Hall sensors to estimate the correct timing for commutation. If you want to use sensor-less BLDC motors with X-NUCLEO-IHM07M1 or if you want an optimized implementation, you must use a different software package like X-CUBE-SPN7, based on STM32Cube.

The HelloWorld_IHM07M1 application has been tested with the Nanotec DF45M024053-A2 motor, a 24V three-phase brushless motor with Hall sensors. This example implements a temperature check to prevent overheating.
If you use a different motor, please be advised that you may need to tweak the configuration parameters for the BLDCmotorDriver library.

Connecting the Motor

/media/uploads/avilei/wirings.jpg
In the picture above you can see an example setup with the Nanotec DF45M024053-A2 motor and a 24V power supply. If you use the same motor, please connect the brown, grey and yellow phases to the OUT1, OUT2 and OUT3 connectors of the X-NUCLEO-IHM07M1 board respectively. Then connect the blue, green, white, red and black wires for the Hall sensors to the A+/H1, B+/H2, Z+/H3, 5V, GND connectors as shown in the picture. If your motor is different, you must pay attention to connect the motor phases and Hall sensors pins in the correct order otherwise the motor won't spin.

Spinning the Motor

Open a terminal window (baudrate 9600, 8N1) to display the user interface of the HelloWorld_IHM07M1 application.
Press the 'w' character to start spinning the motor and speed it up; press the 's' character to slow it down and turn it off.
/media/uploads/avilei/terminal.png

Note

You need a terminal emulator installed on your PC to perform serial communications with your STM32 Nucleo platform. If you do not have it, please download and install one of the following terminal emulation programs:

X_NUCLEO_IHM07M1/SPN7Driver.cpp@3:4c71d3475814, 2016-10-13 (annotated)

Committer:
avilei
Date:
Thu Oct 13 15:48:50 2016 +0000
Revision:
3:4c71d3475814
Parent:
2:4ae769d0b112
Child:
4:3f63eed73ad1
Improve commutation method

Who changed what in which revision?

UserRevisionLine numberNew contents of line
avilei 2:4ae769d0b112 1 /* mbed Microcontroller Library
avilei 2:4ae769d0b112 2 * Copyright (c) 2006-2016 ARM Limited
avilei 2:4ae769d0b112 3 *
avilei 2:4ae769d0b112 4 * Licensed under the Apache License, Version 2.0 (the "License");
avilei 2:4ae769d0b112 5 * you may not use this file except in compliance with the License.
avilei 2:4ae769d0b112 6 * You may obtain a copy of the License at
avilei 2:4ae769d0b112 7 *
avilei 2:4ae769d0b112 8 * http://www.apache.org/licenses/LICENSE-2.0
avilei 2:4ae769d0b112 9 *
avilei 2:4ae769d0b112 10 * Unless required by applicable law or agreed to in writing, software
avilei 2:4ae769d0b112 11 * distributed under the License is distributed on an "AS IS" BASIS,
avilei 2:4ae769d0b112 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
avilei 2:4ae769d0b112 13 * See the License for the specific language governing permissions and
avilei 2:4ae769d0b112 14 * limitations under the License.
avilei 2:4ae769d0b112 15 */
avilei 2:4ae769d0b112 16
avilei 2:4ae769d0b112 17 /**
avilei 2:4ae769d0b112 18 ******************************************************************************
avilei 2:4ae769d0b112 19 * @file SPN7Driver.cpp
avilei 2:4ae769d0b112 20 * @author STMicroelectronics
avilei 2:4ae769d0b112 21 * @brief Implementation of SPN7Driver class
avilei 2:4ae769d0b112 22 ******************************************************************************
avilei 2:4ae769d0b112 23 * @copy
avilei 2:4ae769d0b112 24 *
avilei 2:4ae769d0b112 25 * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
avilei 2:4ae769d0b112 26 * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
avilei 2:4ae769d0b112 27 * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
avilei 2:4ae769d0b112 28 * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
avilei 2:4ae769d0b112 29 * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
avilei 2:4ae769d0b112 30 * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
avilei 2:4ae769d0b112 31 *
avilei 2:4ae769d0b112 32 * <h2><center>&copy; COPYRIGHT 2016 STMicroelectronics</center></h2>
avilei 2:4ae769d0b112 33 */
avilei 2:4ae769d0b112 34
avilei 2:4ae769d0b112 35 #include "mbed.h"
avilei 2:4ae769d0b112 36 #include "SPN7Driver.h"
avilei 2:4ae769d0b112 37
avilei 3:4c71d3475814 38 typedef enum {
avilei 3:4c71d3475814 39 ST_BLDC_LOW = 0,
avilei 3:4c71d3475814 40 ST_BLDC_HIGH,
avilei 3:4c71d3475814 41 ST_BLDC_OFF
avilei 3:4c71d3475814 42 } st_bldc_status_t;
avilei 3:4c71d3475814 43
avilei 2:4ae769d0b112 44 // FIXME: add doxygen
avilei 2:4ae769d0b112 45
avilei 2:4ae769d0b112 46 SPN7Driver::SPN7Driver(PinName pIN1, PinName pIN2, PinName pIN3,
avilei 2:4ae769d0b112 47 PinName pEN1, PinName pEN2, PinName pEN3,
avilei 2:4ae769d0b112 48 PinName pH1, PinName pH2, PinName pH3,
avilei 2:4ae769d0b112 49 PinName pFault) :
avilei 2:4ae769d0b112 50 BLDCmotorDriver(pIN1, pIN2, pIN3,
avilei 2:4ae769d0b112 51 pEN1, pEN2, pEN3,
avilei 2:4ae769d0b112 52 pH1, pH2, pH3,
avilei 2:4ae769d0b112 53 pFault)
avilei 2:4ae769d0b112 54 {
avilei 2:4ae769d0b112 55 // The BLDCmotorDriver class was implemented for half-bridge drivers
avilei 2:4ae769d0b112 56 // so the pin names may be misleading when referring to the L6230 chip.
avilei 3:4c71d3475814 57 // Get pointers to each input pin and call them IN[x] (logic input)
avilei 2:4ae769d0b112 58 // to be consistent with the terminology used in the L6230 documentation.
avilei 3:4c71d3475814 59 PwmOut* IN[3] = {&GH_A, &GH_B, &GH_C};
avilei 3:4c71d3475814 60
avilei 2:4ae769d0b112 61 // Set the switching period of the INx logic input pins (PWM driven)
avilei 3:4c71d3475814 62 for (int i = 0; i < 3; i++) {
avilei 3:4c71d3475814 63 IN[i]->period(switchingPeriod);
avilei 3:4c71d3475814 64 }
avilei 2:4ae769d0b112 65
avilei 2:4ae769d0b112 66 // Set the step commutation function (triggered by the Hall sensors)
avilei 2:4ae769d0b112 67 H1.rise(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 68 H2.rise(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 69 H3.rise(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 70 H1.fall(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 71 H2.fall(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 72 H3.fall(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 73 }
avilei 2:4ae769d0b112 74
avilei 2:4ae769d0b112 75 // 6-step phase commutation
avilei 3:4c71d3475814 76 void SPN7Driver::commutation()
avilei 3:4c71d3475814 77 {
avilei 3:4c71d3475814 78 // The BLDCmotorDriver class was implemented for half-bridge drivers
avilei 3:4c71d3475814 79 // so the pin names may be misleading when referring to the L6230 chip.
avilei 3:4c71d3475814 80 // Get pointers to each input pin and call them IN[x] (logic input)
avilei 3:4c71d3475814 81 // to be consistent with the terminology used in the L6230 documentation.
avilei 3:4c71d3475814 82 PwmOut* IN[3] = {&GH_A, &GH_B, &GH_C};
avilei 3:4c71d3475814 83 // Get pointers to each enable pin and call them ENx (enable channel)
avilei 3:4c71d3475814 84 // to be consistent with the terminology used in the L6230 documentation.
avilei 3:4c71d3475814 85 DigitalOut* EN[3] = {&GL_A, &GL_B, &GL_C};
avilei 3:4c71d3475814 86
avilei 2:4ae769d0b112 87 // 1--X--0--0--X--1
avilei 2:4ae769d0b112 88 // X--1--1--X--0--0
avilei 3:4c71d3475814 89 // 0--0--X--1--1--X
avilei 3:4c71d3475814 90 st_bldc_status_t tab[6][3] = {
avilei 3:4c71d3475814 91 {ST_BLDC_HIGH, ST_BLDC_OFF, ST_BLDC_LOW},
avilei 3:4c71d3475814 92 {ST_BLDC_OFF, ST_BLDC_HIGH, ST_BLDC_LOW},
avilei 3:4c71d3475814 93 {ST_BLDC_LOW, ST_BLDC_HIGH, ST_BLDC_OFF},
avilei 3:4c71d3475814 94 {ST_BLDC_LOW, ST_BLDC_OFF, ST_BLDC_HIGH},
avilei 3:4c71d3475814 95 {ST_BLDC_OFF, ST_BLDC_LOW, ST_BLDC_HIGH},
avilei 3:4c71d3475814 96 {ST_BLDC_HIGH, ST_BLDC_LOW, ST_BLDC_OFF},
avilei 3:4c71d3475814 97 };
avilei 2:4ae769d0b112 98
avilei 2:4ae769d0b112 99 dutyCycle = rl.out(tempDutyCycle);
avilei 2:4ae769d0b112 100 currentSector = getSector();
avilei 2:4ae769d0b112 101
avilei 3:4c71d3475814 102 if (dutyCycle == 0) {
avilei 3:4c71d3475814 103 // Stop the motor
avilei 2:4ae769d0b112 104 coast();
avilei 3:4c71d3475814 105 return;
avilei 2:4ae769d0b112 106 }
avilei 2:4ae769d0b112 107
avilei 3:4c71d3475814 108 // Move to next sector (i.e. commute phase)
avilei 3:4c71d3475814 109 if (dutyCycle > 0 ) {
avilei 3:4c71d3475814 110 // Move forward
avilei 3:4c71d3475814 111 currentSector++;
avilei 3:4c71d3475814 112 if(currentSector > 5) currentSector = 0;
avilei 3:4c71d3475814 113 } else {
avilei 3:4c71d3475814 114 // Move backward
avilei 3:4c71d3475814 115 currentSector--;
avilei 3:4c71d3475814 116 if(currentSector < 0) currentSector = 5;
avilei 3:4c71d3475814 117 }
avilei 3:4c71d3475814 118
avilei 3:4c71d3475814 119 // Get the absolute value of the duty cycle for the PWM
avilei 3:4c71d3475814 120 float d = (dutyCycle > 0) ? dutyCycle : -dutyCycle;
avilei 3:4c71d3475814 121
avilei 3:4c71d3475814 122 // Update the logic inputs and the enable pins
avilei 3:4c71d3475814 123 //printf("Commutation sector %d\n\r", currentSector);
avilei 3:4c71d3475814 124 for (int i = 0; i < 3; i++) {
avilei 3:4c71d3475814 125 *EN[i] = (tab[currentSector][i] == ST_BLDC_OFF) ? 0 : 1;
avilei 3:4c71d3475814 126 *IN[i] = (tab[currentSector][i] == ST_BLDC_HIGH) ? d : 0;
avilei 3:4c71d3475814 127 /*
avilei 3:4c71d3475814 128 int ena = (tab[currentSector][i] == ST_BLDC_OFF) ? 0 : 1;
avilei 3:4c71d3475814 129 float inp = (tab[currentSector][i] == ST_BLDC_HIGH) ? d : 0;
avilei 3:4c71d3475814 130 printf("EN[%d] = %d, IN[%d] = %f\n\r", i, ena, i, inp);
avilei 3:4c71d3475814 131 */
avilei 3:4c71d3475814 132 }
avilei 2:4ae769d0b112 133 }