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1. LCD MDK asm s MS33523V1 Figure 14 displays the logical arrangement of files left hand side and actions that may be needed for set up and download Five project configurations are provided call out 1 Figure 14 one for each STM32 evaluation board that has been tested with the MC SDK STM32F10B EVAL STM32F10E EVAL STM32F100B EVAL STEVAL IHM022V1_SINGLEDRIVE STEVAL IHM022V1_DUALDRIVE One project configuration is provided for the STM32F2xx_Workspace STM322xG EVAL Three project configurations are provided for the STM32F4xx_Workspace STM324xG EVAL STEVAL IHM039V1_SINGLEDRIVE STEVAL IHM039V1_DUALDRIVE One project configuration is provided for the STM32FOxx_Workspace STM320518 EVAL This configuration affects the LCD driver and linker file selection Two project configurations are provided for the STM32F3xx_Workspace TM32303C EVAL_SINGLEDRIVE TM32303C EVAL_SINGLEDRIVE 3 Build the project call out 2 Figure 14 and download it to the microcontroller memory call out 3 Figure 14 4 Totest that the LCD UI is flashed correctly open build and download the user project see Section 5 2 MC SDK customization process From the debug session run the firmware F5 and then after a while stop debugging CTRL Shift D The LCD UI is not flashed properly if the program is stalled in a trap in UlTask c line 195 4 DoclD018802 Rev 6 27
2. wa i z he Ln Cold 4 MS33855V1 Figure 8 provides an overview of the Keil uVision workspace located in the Installation folder Project MDK ARM STM32F10x_Workspace uvmpw 18 53 DoclD018802 Rev 6 3 UM1080 Working environment and its customization Figure 8 Keil uVision workspace overview amp Edit View Project Flash Debug Peripherals Tools SVCS Window Help ed s a e JE Ile amp incude x ia Q od i 8 srm32108 EvaL JN A OA Project a O readme txt vx o WorkSpace LJ fm STM32F10x MC Library RRS file README TXT author STMicroelectronics System Lab MC Team version 4 0 0 date 11 Dec 2013 16 09 brief STM32 PMSM FOC library v3 4 README TXT RRR RR RRR RRR RRR RR RRR RRR RRR RRR RRR RRR RRR attention gt lt h2 gt lt center gt copy COPYRIGHT 2013 STMicroelectronics lt center Licensed under MCD ST Liberty SW License Agreement V2 the You may not use this file except in compliance with the Licer You may obtain a copy of the License at http www st com software license agreement liberty 1 FREE RR amp 0 Fur lt m ST Link Debugger MS33856V1 ky DoclD018802 Rev 6 19 53 Working environment and its customization UM1080 5 2 20 53 MC SDK customization process This section explains how to customize the Motor Control SDK using IAR EWARM IDE
3. HW OVP internal threshold using DAC selecting DAC in the Inverting input drop down list and editing the DAC voltage reference to be generated in Comparator Input A DAC channel must be assigned for this functionality OVP from the related dialogue window located in Control stage gt DAC functionality Figure 30 The selection of not inverting input pin contextually picks the comparator to be used The drive behavior when an overvoltage state is found disable PWM generation or turn on low side switches Enabling or disabling the comparator output has no effect on the overvoltage protection functionality itself Figure 29 STMCWB window related to ADC COMP settings for DC bus voltage Control Stage Analog Input and Protection Phase current feedback Bus voltage feedback Temperature feedback PFC stage feedback Sensing Setting Sampling Time 61 5 ADC ck Peripheral selection ADC1 x use Input Resistance R3 Protection Setting V Embedded HW OVP Inverting input Etemal rv Voltage threshold 26 v Comparator input 02 Elv On over votage Disable PWM generation Output enable Pin map ADC Channel Pin map Not inverting comp AD v COMP7 inverting input coy ADC1_IN1 AQ Bus Voltage Partitioning DoclD018802 Rev 6 49 53 Overvoltage protection with embedded analog STM32F3x UM1080 50 53 Figure 30
4. 4 3 On the fly Sensorless startup The On the fly sensorless startup is a new algorithm able to detect if the motor is running before the startup and skip the acceleration phase if not necessary If the motor runs with a speed that is above the allowed threshold the firmware apply the FOC from the beginning without need to stop it and re start This feature is particular useful for fan application It is possible to enable this feature only when Sensor less Observer PLL or Sensor less Observer Cordic is selected in the Drive Management Speed Position Feedback Management dialog To enable this feature check the startup on Fly check box in the Drive management Start up parameters dialog like shown in Figure 5 and Figure 6 Figure 5 Enabling On the fly start up with Basic profile Drive Management Start up parameters z Sensordess rev up settings 7 On the Fly startup Profile Basic Advanced customized Start up on Fly Sej see Sene re Detection Duration 1000 ms Speed ramp final value 2700 mpm Braking Duration 1000 al ms Current ramp initial value 0 60 A Current ramp final value 0 70 A 3 1 0 Curent ramp duration 350 al ms 2000 a S Include alignment before ramp up ET 2 Q amp 1000 E gt JT ip a ae Y as 0 500 1000 1500 Duration ms Consecutive succesful start up output tests 2 Minimum start up output speed 580 gt mm
5. Cr UM1080 Y life augmented User man ual Quick start guide for STM32F PMSM single dual FOC SDK v4 2 Introduction This user manual provides information to facilitate the use and customization of the STM32 PMSM Field Oriented Control FOC SDK A complete documentation list is provided in Section 2 Documentation architecture It is included in the software package STSW STM32100 and it is available on the ST web site Section 3 Motor profiler and One Touch Tuning explains how to enable and use the Motor profiler and the One touch tuning feature to startup an unknown motor from the scratch Section 4 On the fly Sensorless startup explains how to enable and use the On the fly Sensorless startup feature Section 5 Working environment and its customization explains the Motor Control workspace its customization and download Section 6 How to download the full LCD user interface explains how to download a Graphical User Interface that allows run time command execution and fine tune system parameters note that this procedure has to be done just once on new evaluation boards in the microcontroller Flash memory to STM32 evaluation boards fitted with an LCD display Section 7 Full LCD user interface explores the menu screens and controls Section 8 Introduction to the PMSM FOC drive provides the block diagram of the implemented Field Oriented Control Section 9 Current sensing and protection with embedded
6. Changed software library version from v3 4 to v4 0 Removed Table1 Applicable product Added text in Section 1 Motor control library features Modified Section 1 1 User project and interface features Modified Section 5 1 Motor control workspace Updated Figure 7 IAR EWARM IDE Workspace overview Added Figure 8 Keil uVision workspace overview Updated Figure 9 Workspace batch build for IAR EWARM IDE Added Figure 10 Workspace batch build for Keil uVision Updated Figure 14 LCD UI project Figure 15 User interface reference Figure 17 STM32 Motor Control demonstration project welcome message and Figure 19 Dual control panel page 22 May 2014 4 DocID018802 Rev 6 51 53 Revision history UM1080 52 53 Table 9 Document revision history continued Date 18 May 2015 Revision Changes Updated Introduction Updated Section 1 Motor control library features Updated Section 2 2 Related documents Added Section 3 Motor profiler and One Touch Tuning Added Section 4 On the fly Sensorless startup Added figure from Figure 1 Motor profiler to Figure 6 Enabling On the fly start up with Advanced profile Updated Figure 29 STMCWB window related to ADC COMP settings for DC bus voltage 11 Sept 2015 Updated Document title Introduction Table 1 Project configurations Section 2 2 Related documents 3 DocID018802 Rev 6 UM1080 IMPORT
7. Description Sets the integral coefficient of the speed controller for the active motor The value set in this control is automatically sent to the motor control related object allowing the run time tuning of the speed controller The value set in this control is automatically sent to the motor control Bus o 8 related object allowing the run time tuning of flux weakening controller The value is expressed in per mil 0 of DC bus voltage DC bus voltage percentage presently used for the active motor it is a Bus o 9 read only control This control is present only if the flux weakening feature 00 is enabled in the firmware The value is actually expressed in per mil 0 of DC bus voltage Flux wk PI gain KP 10 The value set in this control is automatically sent to the motor control related object allowing the run time tuning of the flux weakening controller Flux wk PI gain KI 11 The value set in this control is automatically sent to the motor control related object allowing the run time tuning of the flux weakening controller 7 2 5 Current controllers page To enter the Current controllers page press the joystick RIGHT from the Speed controller page or from one of the pages described above if the Speed controller page is not visible It is possible to navigate between focusable controls present in the page by pressing the joystick UP DOWN The Current controllers page shown in Figure
8. Many evaluation boards are available from ST some of them have an ST link programmer onboard e A Three phase PMSM motor Motor control workspace The Motor Control workspace is composed of two projects as shown in Figure 11 which constitute the MC workspace Motor Control Library project the collection of all the classes developed to implement all the features It is built as a compiled library not as an executable file User project it contains both the MC Application layer and the demonstration program that makes use of that layer through its MC API and provides the required clockings and access to Interrupt Handlers Parameters and configurations related to user s application are used here to create right objects in what is called the run time system boot The Motor Control API is the set of commands granted to the upper layer The program can run some useful functions depending on user options such as serial communication LCD keys interface system variables displaying through DAC Two equivalent and alternative types of user projects exist They differ in how they generate the clocks one implements a simple time base itself the other exploits an Operating System FreeRTOS to do it 13 user project workspaces are available They differ in the supported STM32 family IDE supported how they generate the clocks a simple time base itself or an Operating System FreeRTOS The fist 8 are for IAR EWARM IDE and are stor
9. RM0091 e STM32F100xx user manual RM0041 e STM32F103xx user manual RM0008 e STM32F20x and STM32F21x user manual RM0033 e STM32F30x user manual RM0316 e STM32F40x and STM32F41x user manual RM0090 e STM32F103xx AC induction motor IFOC software library V2 0 UM0483 e STM32 and STM8 Flash Loader demonstrator UM0462 3 DocID018802 Rev 6 UM1080 Motor profiler and One Touch Tuning 3 3 Motor profiler and One Touch Tuning The Motor profiler also called Self commissioning is a new algorithm able to auto measure the electrical parameters of PMSM motors The One touch tuning is a new algorithm that use a single parameter to set up the speed controller according the type of load They can be enabled together to achieve the run of an unknown motor from the scratch in few minutes If enabled in the firmware this algorithms runs a set of electrical tests to determine the parameters required by the FOC and perform the auto tuning of the PI regulators both current and speed Starting from now the reference of both features is Motor Profiler The Motor Profiler algorithm will determine the following parameters e Stator resistance Rs e Stator inductance Ls e BEMF constant Ke e KP and KI of speed controller e Nominal speed of the motor If the project supports the Motor Profiler feature the window dialog shown in Figure 1 will appear Figure 1 Motor profiler
10. 21 is used to send commands and get feedback related to current controllers from the active motor There are five control groups in this page Table 7 Control groups Control group Description Set point Used to set the current references and read the measured currents Iq PID gains Used to change the speed controller gains in real time Id PID gains Measured speed with start stop button 3 Composed of two controls that are also present in the Current controllers page and in the Sensorless tuning page It provides a fast access to the measured speed and to the motor start stop function DocID018802 Rev 6 37 53 Full LCD user interface UM1080 38 53 Figure 21 Current controllers page Motor selected 1 STM32 FOC SDK Current controllers Set points Iq ref Iq Measured speed 1500 4 15008 1500 rpm Id ref Id ZA Iq PID Gains 14 Ees Id PID Gains Link Input f Iq ld YT KP 1000 kp C1000 KI 500 8 xr 500 MS33809V1 If the firmware is configured as dual motor drive it is possible to know which motor is active by reading the label at the bottom of the page To change the active motor go to the Configuration and debug page and change 1 in Figure 27 Table 8 lists the actions that can be performed using this page Table 8 Current controllers page controls Control Iq re
11. 53 Full LCD user interface UM1080 36 53 Figure 20 Speed controller page STM32 FOC SDK Speed controller rset point Target speed 1500 I Ramp duration A 1000 ms Measured speed C1500 9 rpm CStar Stop PID gains Flux wk tuning KP 1000 BUS BUS kr 500 980g 9759 KP KI Cot og MS33808V1 If the firmware is configured as dual motor drive it is possible to know which motor is active by reading the label at the bottom of the page To change the active motor go to the Configuration and debug page and change 1 in Figure 18 Table 6 lists the actions that can be performed using this page Table 6 Speed controller page controls Control Target speed 1 in Figure 20 Description Sets the final motor speed of a speed ramp for the active motor The motor speed is expressed in RPM The value set in this control is not automatically sent to the motor control related object but it is used to perform a speed ramp execution See the Exec button description 3 Ramp duration 2 Sets the duration of a speed ramp for the active motor The duration is expressed in milliseconds The value set in this control is not automatically sent to the motor control related object but it is used to perform a speed ramp execution See the Exec button description 3 It is possible to set a duration value of 0 to program a ramp with an instantaneous
12. 53 Full LCD user interface UM1080 7 7 1 28 53 Full LCD user interface Running the motor control firmware using the full LCD interface The STM32 motor control library includes a demonstration program that enables you to display drive variables customize the application by changing parameters and enable and disable options in real time The user interface reference is the one present in the STM32 evaluation boards and is shown in Figure 15 Figure 15 User interface reference et point onitor Target speed H 1588jren easured speed The interface is composed of e A 320x240 pixel color LCD screen e A joystick see Table 2 for the list of joystick actions and conventions e A push button KEY button Table 2 Joystick actions and conventions Keyword User action UP Joystick pressed up DOWN Joystick pressed down LEFT Joystick pressed to the left 3 DocID018802 Rev 6 UM1080 Full LCD user interface 7 2 3 Table 2 Joystick actions and conventions continued Keyword User action RIGHT Joystick pressed to the right JOYSEL Joystick pushed KEY Press the KEY p
13. Estimated speed Band tolerance upper limit 106 25 Estimated speed Band tolerance lower limit 93 75 Done DoclD018802 Rev 6 15 53 On the fly Sensorless startup UM1080 16 53 Figure 6 Enabling On the fly start up with Advanced profile Drive Management Start up parameters z Sensordess rev up settings V Onthe Fy startup Profile Basic Advanced customized Start up on Fly Initial electrical angle 90 deg Ditection Disetion 1000 aj Braking Duration 1000 ms Duration ms Final speed pm Final current A 1 350 630 10 7 1 0 2 1150 2700 10 7 2000 3 0 2700 10 7 A p 9 Eg 05 8 Q R amp 1000 gt nm Execute sensoriess algorithm starting from 2 0 aa a 0 0 i 0 500 1000 1500 Duration ms Consecutive succesful startup output tests 2 Minimum start up output speed 580 pm Estimated speed Band tolerance upper limit 106 25 Estimated speed Band tolerance lower limit 93 75 Done The speed threshold used to determine if is possible to skip the acceleration phase is the Minimum startup output speed that represents the minimum speed for which the sensorless observer gives a reliable measurements This can be select by the user according the nominal speed of the motor When enabling the On the fly startup two other parameter will appear in the dialog box e Detection duration e Braking Duration Both quantity are ex
14. LCD UI Figure 12 Enabling the full LCD UI in the ST MC Workbench Speed Position Sensing Enabling Feedback Drive Settings and Firmware Management Protections Additional Features User Interface SIRE and PFC settings Add on Drive Management User Interface Add on FW Joystick LCD 7 Enable 7 Start Stop button Full 5 Light Serial communication 7 Enable Bidirectional Fast iinidiractinnal MS33860V1 Option 1 Option 1 is straightforward and the preferred one 1 Use the STM32 ST LINK Utility tool to download the LCD pre compiled file opening the proper MC workspaces as explained in Section 5 1 2 File gt Open file 3 Select the appropriate pre compiled file STM3210B EVAL hex STM32100B EVAL hex STM3210E EVAL hex STM322xG EVAL hex 3 24 53 DocID018802 Rev 6 UM1080 How to download the full LCD user interface 3 STM324xG EVAL hex STM32303C EVAL_SINGLEDRIVE hex STM32303C EVAL_DUALDRIVE hex STEVAL IHM022V1_SINGLEDRIVE hex STEVAL IHM022V1_DUALDRIVE hex STEVAL IHM039V1_SINGLEDRIVE hex STEVAL IHM039V1_DUALDRIVE hex Option 2 1 Use the STM32 and STM8 Flash loader demonstrator PC software package This is available from the ST web site www st com and in the Installation folder Utilities Flash loaden The User Manual UM0462 included in the package fully explains how to operate it For communication pur
15. Seid Wael ae nd Se Wear aren Wes Bde Made nc at 27 User interface reference 2 0 00 ee eee eee 28 Page structure and navigation 0 cee eee 29 STM32 Motor Control demonstration project welcome message 31 Configuration and debug page aanas aaa aaae 32 Dual control panel page 2 00 tee eee 34 Speed controller page 000 cee eee eee 36 Current controllers page o cesc DER ER eee 38 Basic FOC algorithm structure torque control esse eee eee eee 39 Speed control loop s e S eas kan a a a a a E eee eee 40 Current sensing and over current protection with STM32F302 303 41 Current sensing network using external gains a aaaea 42 Current sensing network using internal gains plus filtering capacitor 43 STMCWB window related to PGA COMP settings for motor currents 43 Overvoltage protection network 0 00 eee 48 STMCWB window related to ADC COMP settings for DC bus voltage 49 STMCWB window related to DAC settings 0 0 0 ce eee 50 DoclID018802 Rev 6 5 53 Motor control library features UM1080 1 Motor control library features 6 53 Motor profiler anew algorithm able to auto measure electromechanical Parameters of PMSM Motors only for STM32F30x and STM32F4xx One touch tuning is anew algorithm that use a single parameter to set up the speed controller ac
16. The project you created supports the Motor Profiler feature Before to use that feature you have to define in Motor Electrical parameters the following Poles Pairs Maximum application speed Nominal current M rt Pic F Dont show this window User can enable this functionality in any new Workbench project by checking the Motor profiler check box in the Motor Electrical parameters dialog like shown in Figure 2 When enabling Motor profiler also enable the One touch tuning feature DoclD018802 Rev 6 11 53 Motor profiler and One Touch Tuning UM1080 12 53 Figure 2 How to enable Motor Profiler Motor Electrical parameters Magnetic structure Surface Mounted PMSM Electrical parameters Pole Pairs Max Application Speed Nominal Current Demagnetizing Current T Motor Profiler One Touch Tuning No Load Before to use the Motor Profiler feature is necessary to generate the configuration files clicking on the Generation button 4 Enabling Motor profiler the electrical parameters required by the FOC Rs Ls and Ke will measured by the FW and the relative edit box disappear from the Motor Electrical parameters dialog Other parameters like pole pairs maximum application speed and nominal current will not be measured and must be insert by the user In case of Internal PMSM is possible to change the magnetic structu
17. am opamP2 c5 OPAMP2 AG Overall Network Gain 144 Calculate Chw Dis Vout polarization 1 833 v Trise 2550 EJ ns Fi k net filtering Protection Setting Pin map Digtal fiter duration 8 z dock inverting input m inverting input Etema Not inverting Current threshold 1783 HA chu Al COMP1 Voltage Threshold 12 v av Ww COMP2 Onasi chw Did COMP3 Done MS33802V1 DoclD018802 Rev 6 43 53 Current sensing and protection with embedded analog STM32F3x UM1080 9 3 44 53 Overcurrent protection The basic principle of the hardware over current protection mechanism can be summarized as follows e The phase current of the motor flows in the power transistor of the inverter bridge and passes through the shunt resistor RShunt producing a voltage drop V This voltage drop is compared with a threshold V defining the maximum admissible current If the threshold is exceeded a break signal stops the PWM generation putting the system in a safe state All of these actions can be performed using the internal resources of the STM32F302 303 and in particular the embedded comparators and the advanced timer break function BRK2 As shown in Figure 24 Figure 25 and Figure 26 the same signal is fed to both not inverting input of embedded comparators and PGA The overcurrent threshold V can be defined in three different ways e using one of the available internal voltage reference 1 2V 0 9
18. analog STM32F3x and Section 10 Overvoltage protection with embedded analog STM32F3x explain how the library can be easily configured to use STM32F30x s embedded analog peripheral set fast comparators and Programmable Gain Amplifiers PGA Release note RNO085 lists all supported microcontrollers September 2015 DoclD018802 Rev 6 1 53 www st com Contents UM1080 Contents 1 Motor control library features 00 eee 6 1 1 User project and interface features 0 00 ce eee ee 7 2 Documentation architecture 0c eee 9 2 1 Where to find the information you need 0 eee ee eee 9 2 2 Related documents 0000 cece eee eee 10 3 Motor profiler and One Touch Tuning 00 00 eee eee eee 11 3 1 Restrictions s 0 0 0 0 0 cette eee 14 4 On the fly Sensorless startup 00 cece eee eee eee 15 5 Working environment and its customization 0055 17 5 1 Motor control workspace 0 0000 eee 17 5 2 MC SDK customization process 000000 02 e eee 20 6 How to download the full LCD user interface 24 7 Full LCD user interface 0000 cece eee eee 28 7 1 Running the motor control firmware using the full LCD interlace sasa oii ea oad a eR EN a Oe E eee we G 28 7 2 LCD User interface structure 220000000 0c eee eee 29 7 2 1 Welcome message 0 cette 31 7 2 2 Configuration and debug page ee
19. command means start the motor if it is stopped or stop the motor if it is running If the drive is configured in speed mode when the motor starts a speed ramp with the latest values of the final motor speed and duration is performed If a fault condition occurs at any time the motor is stopped if running and the start stop button is disabled When a fault condition is over the Fault ack button 5 for motor 1 11 for motor 2 is enabled Pushing this button acknowledges the fault conditions that have occurred After the fault is acknowledged the start stop button becomes available again When a DocID018802 Rev 6 ky UM1080 Full LCD user interface 7 2 4 3 fault occurs and before it is acknowledged it is only possible to navigate in the Dual control panel page and the Configuration and debug page e To start or stop both motors simultaneously push the Start Stop both motors button 12 This button is enabled only when the motors are both in Idle state or both in RUN state If any of the motors is configured in speed mode when it starts a speed ramp with the last values of the final motor speed and duration is performed It is possible to stop both motors at any time by pushing the KEY button e To execute simultaneous speed ramps on both motors push the Exec simultaneous Ramps button 13 This button is disabled when at least one of the two motors is configured in torque mode The Exec speed ramp command is sent to
20. starts the procedure Figure 3 Send a Motor profiler command ST Motor Control Workbench Noname001 ala File Tools Help Documentation Sak X e amp Oe 006 Motor Motor _ Motor Speed Position a se M mar Drive Management Control Stage Variable Motor Uni SDK FOC Library STM32 MC P z Motor type PMSM Micro STM32F302B 2 Time Motor Id Message PWM frequency Hz Current reading topology Three Shunt gt Info Emors Wamings Change Log m PMSM STM32 MC PMSM FOC SDK v4 1 A progress bar will show the status of the procedure and at the end the motor runs and a dialog shows the measured parameters like in Figure 4 If some errors occur during the procedure the fault indication will be shown and the Clear Fault button can be pressed to reset the fault state 3 DocID018802 Rev 6 13 53 Motor profiler and One Touch Tuning UM1080 Figure 4 Dialog showing the measured parameter a Motor Profiler 2 Port COM1 115200 IV Start Motor Identified oe S Process completed Click on the button to copy the actuals results onthe project Actuals Results Rs 0 32 Ohm Ls 239 mH B Emf constant 58 Vms Krpm Nominal DC Voltage 25 v Nominal Speed 3342 mpm amp Copy Results on Project A At the end of the procedure is also possible to import the measure
21. uvmpw Installation folder Project MDK ARM STM32F4xx_Workspace uvmpw Enable the UserProject callout 1 in Figure 10 right click on it and select Set as Active Project according the evaluation board used If none of the boards displayed is in use read Table 1 Project configurations to perform a correct configuration Press batch build button callout 2 in Figure 10 The dialog box shown in Figure 10 Batch Build appears Select the configuration to be build according the step 7 callout 3 in Figure 10 and selecting the proper conflagration of the MC Library Single or Dual drive callout 4 in Figure 10 Then click Build button to make the build callout 5 in Figure 10 If no error or relevant warning appears download the firmware callout 6 Figure 10 and do a test run DocID018802 Rev 6 21 53 Working environment and its customization UM1080 Note 22 53 Figure 10 Workspace batch build for Keil uVision Al Select Project Targets STM32F 10x_MC Library IV STM32F 10x Single Drive STM32F 10x Dual Drive STM32F 10x_UserProject IT S1M32100B EVAL TF STM3210E EVAL IV STM3210B EVAL FT STEVAL IHM022V 1_DUALDRIVE IT STEVAL IHM022V 1_SINGLEDRIVE E Project Books Functions 04 Templates Debugger MS33859V1 When the system configuration or parameters are modified just the User project requires to be recompiled The batch build procedure is requested just if the MC Librar
22. ADC1 ADC2 or the pairs ADC3 ADC4 for both drivers In this case ST MC Workbench proposes the allowed inputs pins for motor currents measurement If shared resource is settled and embedded PGA is used the following configuration is used The pair OPAMP1 OPAMPS3 is used OPAMP gains is only Internal External capacitor filer is not allowed Input pins are PA5 PA7 and PB13 respectively U V W for motor 1 and PA1 PA3 and PBO respectively U V W for motor 2 In this case if the hardware over current protection is managed by internal comparators it is mandatory to connect externally the pins PA3 with one of the pins PB14 or PD14 and connect externally the pins PA5 with one of the pins PB11 or PD11 The pins selected can be settled in the workbench in Control Stage gt Analog Input gt Phase current feedback gt Protection DocID018802 Rev 6 47 53 Overvoltage protection with embedded analog STM32F3x UM1080 10 48 53 Overvoltage protection with embedded analog STM32F3x Figure 28 shows a basic implementation of over voltage protection network that can be implemented using the internal resources of the STM32F30x Figure 28 Overvoltage protection network BUS voltage 6 PWM STM32F3xx MS31666V In this case the principle is similar to the one described in Section 9 3 e A resistive voltage divider provides a signal proportional to the bus voltage It mu
23. ANT NOTICE PLEASE READ CAREFULLY STMicroelectronics NV and its subsidiaries ST reserve the right to make changes corrections enhancements modifications and improvements to ST products and or to this document at any time without notice Purchasers should obtain the latest relevant information on ST products before placing orders ST products are sold pursuant to ST s terms and conditions of sale in place at the time of order acknowledgement Purchasers are solely responsible for the choice selection and use of ST products and ST assumes no liability for application assistance or the design of Purchasers products No license express or implied to any intellectual property right is granted by ST herein Resale of ST products with provisions different from the information set forth herein shall void any warranty granted by ST for such product ST and the ST logo are trademarks of ST All other product or service names are the property of their respective owners Information in this document supersedes and replaces information previously supplied in any prior versions of this document 2015 STMicroelectronics All rights reserved 3 DocID018802 Rev 6 53 53
24. HTML file This provides a full description of the classes that make up the UI Library STM32FOxx STM32F10xx STM32F2xx STM32F30x or STM32F4xx Standard Peripherals Library source documentation Doxygen compiled HTML file ST MC Workbench GUI documentation This is a field guide that describes the steps and parameters required to customize the library as shown in the GUI In depth documentation about particular algorithms sensorless position speed detection flux weakening MTPA feed forward current regulation Please contact your nearest ST sales office or support team to obtain the documentation you are interested in if it was not already included in the software package you received or available on the ST web site www st com DoclD018802 Rev 6 9 53 Documentation architecture UM1080 2 2 10 53 Related documents Available from www arm com e Cortex MO Technical Reference Manual available from http infocenter arm com e Cortex M3 Technical Reference Manual available from http infocenter arm com e Cortex M4 Technical Reference Manual available from http infocenter arm com Available from www st com or your STMicroelectronics sales office e STM32F051x datasheets e STM32F100xx datasheet e STM32F103xx datasheet e STM32F20x and STM32F21x datasheets e STM32F302x6 8 datasheet e STM32F302xB C datasheet e STM32F303xB C datasheet e STM32F40x and STM32F41x datasheets e STM32F051x user manual
25. OWN Use the Configuration and debug page shown in Figure 78 to e Select the active motor drive 1 This control is present only for dual motor control applications This combo box enables you to select the active motor drive Once the active motor is selected it is shown in the status bar present at the bottom of the screen 2 Commands performed on or feedback from a control are only relative to the active motor e Select the control mode 3 Two control modes are available speed and torque You can change the control mode from speed to torque and vice versa on the fly even if the motor is already running DoclD018802 Rev 6 31 53 Full LCD user interface UM1080 32 53 Figure 18 Configuration and debug page STM32 FOC SDK Configuration and debug Motor Ctrl mode Faults Id Spd trq__ Power board status DC Bus volt 24 Heatsink T 35 AC Settings Under volt cm la 4 Over temp Fault ack B Motor selected 1 MS33806V1 Read the DC bus voltage value 4 This control is read only Read the heat sink temperature value 5 This control is read only Select the variables to be put in output through DAC channels 6 These controls are present only if the DAC option is enabled in the firmware The list of variables also depends on firmware settings It is possible to read the list of fault causes 7 if fault conditions have occurred or if they are still pr
26. STMCWB window related to DAC settings Control Stage DAC Functionality MS33804V1 DocID018802 Rev 6 3 UM1080 Revision history 11 3 Revision history Table 9 Document revision history Date Revision Changes 03 May 2011 1 Initial release Added references to STM32F05xx STM32F2xx and STM32F4xx in the title and throughout the document Updated SDK V3 0 to V3 4 Updated Motor Control Library project and User project in Section 5 1 Motor control workspace Updated Section 5 2 MC SDK customization process including Table 1 Project configurations Added Option 1 to Section 6 How to download the full LCD user interface and updated Option 2 and Option 3 Added text to Section 7 2 LCD User interface structure 14 Nov 2012 2 Changed the software library version from V3 3 to v3 4 Added references to STM32F303xB C in the title and throughout the document Added new available ST documents in Section Available from www st com or your STMicroelectronics sales office Updated option in Section 6 How to download the full LCD user interface Updated Section 5 2 MC SDK customization process Added Section 9 Current sensing and protection with embedded analog STM32F3x Added Section 10 Overvoltage protection with embedded analog STM32F3x Updated Figure 15 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 27 Figure 29 Figure 30 16 Dec 2013 3
27. V 0 6V 0 3V providing it externally using the inverting input pin of the comparator e programming a DAC channel The MC library can be arranged to match all the configurations shown by using the ST MC Workbench creating a project based on STM32F302 or STM32F303 from the dialogue window located in Control Stage gt Analog Input gt Phase current feedback Figure 27 setting Embedded HW OCP radio button as overcurrent protection topology HW OCP internal threshold selecting Internal in the Inverting input drop down list and choosing the internal voltage reference among available values in Voltage Threshold e HW OCP external threshold selecting External in the Inverting input drop down list and editing the external voltage reference in Voltage Threshold HW OCP internal threshold using DAC selecting DAC in the Inverting input drop down list and editing the DAC voltage reference to be generated in Voltage Threshold A DAC channel must be assigned for this functionality OCP from the related dialogue window located in Control stage gt DAC functionality Figure 30 On the other hanad it is possible to setup the motor overcurrent protection network to use external components In this case the overcurrent protection signal coming from a comparator for instance is directly fed to the advanced timer s BKIN2 pin By using the ST MC Workbench creating a
28. WARM STM32F10x_Workspace eww The following sections provide details on this The equivalent workspace based on FreeRTOS is located in Installation folder FreeRTOSProject EWARM STM32F10x_RTOS_Workspace eww Figure 7 IAR EWARM IDE Workspace overview YE STM32F10x Workspace IAR Embedded Workbench IDE o 18 amp File Edit View Projet Tools Window Help t Cela S amp bd uh Dep ie gt t amp amp amp readme txt f0 7 x STM32F10x UserProject STM3210B EVAL 1 fx 2 2 se de de de de de de de de de ede dede de de ede de ede ede TOIT TFET de de de de se ede se de ke de de de dede sk 2 Files 3 file README TXT E STM32F10x_Workspace 4 author STMicroelectronics System Lab M a D STM32F10x MC Library STM32F10x SINGLE DRIVE v 5 version 4 0 0 6 STM32F10x_UserProject STM3210B EVAL v 6 date 11 Dec 2013 16 09 7 brief STM32 PMSM FOC library v3 4 README 8 ede dede dede de dede dede dede dede dede dede dede ske sk dkk dede de dede dk des tt ttt etree es 9 attention 10 11 lt h2 gt lt center gt scopy COPYRIGHT 2013 STMicroele 12 13 Licensed under MCD ST Liberty SW License Agr 14 You may not use this file except in complian 15 You may obtain a copy of the License at 16 17 ig http www st com software license ag 8 y 19 Unless required by applicable law or agreed Overview STM32F10x_MC Library STM32F10x_UserProject rra
29. asurement signal Three shunts topology according to configuration as explained in Section 9 2 and 9 3 two ADCs two OPAMPs three comparators and one DAC channel must be assigned If Embedded PGA is enabled the selection of ADC peripherals and input pins is linked to that of PGA peripherals e f Embedded HW OCP and Embedded PGA are enabled the selection of ADCs and comparators and their inputs and pins is linked to that of PGA peripherals and theirs inputs e f Embedded HW OCP is enabled and Embedded PGA is disabled the selection of comparators is free e f Embedded HW OCP and Embedded PGA are both disabled the selection of comparators and ADCs is free The pair OPAMP1 OPAMP2 can be used in a project based on STM32F302 or STM32F303 the pair OPAMP3 OPAMP4 can be used additionally in a project based on STM32F303 The pair ADC1 ADC2 can be used in a project based on STM32F302 or STM32F303 the pair ADC3 ADC4 can be used additionally in a project based on STM32F303 If both PGA and comparator for OC protection are used they will share the same input pins for the motor current measurement signal 9 5 Resources allocation dual drive 3 If using a STM32F303 microcontroller is possible to create a dual drive project The current feedback network configurations supported by STM32 FOC SDK are single shunt and three shunt Dual single shunt drive dual three shunts dri
30. both motor control objects together with the related final motor speed and the duration currently selected The Exec speed ramp command performs a speed ramp from the current speed to the final motor speed in a time defined by the duration for each motor The commands are buffered and take effect only when the related motor is in RUN state Speed controller page This page is only present if the control mode set in Figure 18 is the speed mode To enter the Speed controller page press the joystick RIGHT from the Configuration and debug page or from the Dual control panel page if the firmware is configured in dual motor drive It is possible to navigate between focusable controls present in the page by pressing the joystick UP DOWN The Speed controller page shown in Figure 20 is used to send commands and get feedback related to the speed controller from the active motor There are four groups of controls in this page Table 5 Control groups Control group Description Set point Used to configure and execute a speed ramp PID gains Used to change the speed controller gains in real time Flux wk tuning Used to tune the flux weakening related variables Measured speed with start stop button Composed of two controls that are also present in the Current controllers page and in the sensorless tuning page it provides a fast access to the measured speed and to the motor start stop function DocID018802 Rev 6 35
31. box shown in Figure 9 appears Select a batch command call out 3 Figure 9 as for step 4 then click the Make button to make the build call out 4 Figure 9 If no error or relevant warning appears download the firmware call out 5 Figure 9 and do a test run 3 DocID018802 Rev 6 UM1080 Working environment and its customization 3 Figure 9 Workspace batch build for IAR EWARM IDE File Edit View Project Tools Wi Workspace Ready D d d amp STM32F10x_UserProject Files a B STM32F10x_Workspace STM32F10x MC Library STM32F10x_SINGLE_DRIVE fj STM32F10x UserProject STM3210B EVAL Batch Build Batches workspace_rebuild_STEVAL IHM022 1 DUAL New workspace rebuild STEVAL IHMO22V1 TSINGI s workspace rebuild STM321008 EVAL SB Edit workspace 1 rebuild_STM3210E EVAL Delete Ifs sticroele License Agr Close in complian fgcense at g fre license ag L gt gt aw or agreed Overview STM32F10x MC Library STM3 TOx_UserProject Rebuild All Rie MS33857V2 10 Open one of the MC workspaces Installation folder Project MDK ARM STM32F0xx_Workspace uvmpw Installation folder Project MDK ARM STM32F 10x_Workspace uvmpw Installation folder Project MDK ARM STM32F2xx_Workspace uvmpw Installation folder Project MDK ARM STM32F3xx_Workspace
32. change in the speed reference from the current speed to the final motor speed 1 Exec button 3 Executes a speed ramp for the active motor The execute speed ramp command is sent to the motor control related object together with the final motor speed and duration presently selected 1 and 2 The execute speed ramp command performs a speed ramp from the current speed to the final motor speed in a time defined by duration The command is buffered and takes effect only when the motor becomes in RUN state Measured speed 4 Reads the motor speed for the active motor The motor speed is expressed in RPM and is a read only control Start Stop button 5 Sends a start stop command for the active motor A start stop command starts the motor if it is stopped or stops a running motor Used with a motor start a speed ramp with the last values of the final motor speed and duration is performed If a fault condition occurs at any time the motor is stopped if running and the Configuration and debug page displays Speed PID gain KP 6 Sets the proportional coefficient of the speed controller for the active motor The value set in this control is automatically sent to the motor control related object allowing the run time tuning of the speed controller ky DoclD018802 Rev 6 UM1080 Full LCD user interface Table 6 Speed controller page controls continued Control Speed PID gain Kl 7
33. cording to the type of load Together with the Motor profiler can be enabled to achieve the setup and run of an unknown motor from the scratch only the STM32F30x and STM32F4xx On the fly sensorless startup a new algorithm able to detect if the motor is running before the startup and skip the acceleration phase if not necessary The motor is run in FOC from the begin without need to stop it before the start This feature is particular useful for fan application any STM32F supported Single or simultaneous Dual PMSM FOC sensorless sensored Dual PMSM FOC only when running on STM32F 103xx High Density STM32F103xx XL Density STM32F2xx STM32F303xB C or STM32F4xx Speed feedbacks Sensorless High Frequency Injection HFI plus B EMF State Observer PLL rotor speed angle computation from B EMF only for STM32F30x or STM32F4xx Sensorless B EMF State Observer PLL rotor speed angle computation from B EMF Sensorless B EMF State Observer CORDIC rotor angle computation from B EMF 60 or 120 displaced Hall sensors decoding rising falling edge responsiveness Quadrature incremental encoder For each motor dual simultaneous speed feedback processing On the fly speed sensor switching capability Current sampling methods Two ICS only when running on STM32F103xx STM32F2xx or STM32F4xx Single common DC link shunt resistor ST patented Three shunt resistors placed on the bo
34. d parameter in the Workbench project pressing the Copy Results on Project button shown in Figure 4 Doing this the Motor profiler feature will be disabled and the firmware can be finalized removing the extra code required by that feature The process to generate the h file compile download and to finalize the firmware is explained in the UM1052 Chapter 9 Working environment Note When Motor Profiler is enabled is possible to run the motor in standalone mode no Workbench connection using the LCD and Joystick feature if present in the board Pressing the Key button the Motor Profiler procedure will be executed before to start the motor After one successfully identification of the motor the next startup will be executed using the parameters already measured without executing new Motor Profiler identification 3 1 Restrictions Motor profiler can be enabled only e For new Workbench projects or WB example projects if the selected power board support that feature e f a microcontroller of the STM32F3 or STM32F4 family is used in the WB project e Ina single drive WB project e Using three shunts or single shunt current regulation When enabling Motor profiler is not possible to e enable the Flux Weakening e enable the On the fly startup e define a customized startup sequence e use Embedded PGA 3 14 53 DocID018802 Rev 6 UM1080 On the fly Sensorless startup
35. d when the FOC frequency is too high to be sustainable by the microcontroller Under volt This fault occurs when the DC bus voltage is below the configured threshold This fault occurs when the DC bus voltage is above the configured threshold Over volt If the dissipative brake resistor management is enabled this fault is not raised This fault occurs when the heat sink temperature is above the configured Over temp threshold e Execute encoder initialization If the firmware is configured to use the encoder as the primary speed sensor or auxiliary speed sensor the Encoder alignment button 9 is also present In this case the alignment of the encoder is required only once after each reset of the microcontroller Dual control panel page This page is present only if the firmware is configured for dual motor drive To enter the Dual control panel page press the joystick RIGHT from the Configuration and debug page It is possible to navigate between focusable controls present in the page by pressing the joystick UP DOWN The Dual control panel page shown in Figure 19 is used to send commands and get feedback from both motors It is divided into three groups e Groups A and B depend on speed torque settings The group content is updated on the fly when the control mode torque speed is changed in the Configuration and debug page The control present in group A is related to the first motor The control present in grou
36. e DAC channel must be assigned e If Embedded PGA is enabled the selection of ADC peripherals and input pins is linked to that of PGA peripherals e f Embedded HW OCP and Embedded PGA are enabled the selection of ADCs and comparators and their inputs and pins is linked to that of PGA peripherals and theirs inputs e f Embedded HW OCP is enabled and Embedded PGA is disabled the selection of comparators is free e If Embedded HW OCP and Embedded PGA are both disabled the selection of comparators and ADCs is free e The pair OPAMP1 OPAMP2 can be used in a project based on STM32F302 or STM32F303 the pair OPAMP3 OPAMP4 can be used additionally in a project based on STM32F303 e The pair ADC1 ADC2 can be used in a project based on STM32F302 or STM32F303 the pair ADC3 ADC4 can be used additionally in a project based on STM32F303 e f both PGA and comparator for OC protection are used they will share the same input pins for the motor current measurement signal Dual Three shunts topology not shared resources according to configuration as explained in Section 9 2 and 9 3 four ADCs four OPAMPs six comparators and two DAC channels must be assigned e f Embedded PGA is enabled the selection of ADC peripherals and input pins is linked to that of PGA peripherals e f Embedded HW OCP and Embedded PGA are enabled the selection of ADCs and comparators and th
37. ection with embedded analog STM32F3x 9 9 1 3 Current sensing and protection with embedded analog STM32F3x Introduction The STM32F302 303 microcontrollers features have an enhanced set of peripherals They include comparators PGAs DACs and high speed ADCs This section describes how to use these peripherals accordingly to what is made available by the MC library Figure 24 shows a current sensing and over current protection network that can be implemented using the internal resources of the STM32F302 303 due to the motor phase current the voltage drop on the shunt resistor can be either positive or negative an offset is set by R1 and R2 Then the signal is linked to a microcontroller pin that has both functionality of amplifier and comparator non inverting input Figure 24 Current sensing and over current protection with STM32F302 303 6 PWM STM32F3xx MS31664V1 This configuration shows the optimization that can be reached using STM32F3 both in terms of reduced number of external component and microcontroller pins assigned for the MC application DocID018802 Rev 6 41 53 Current sensing and protection with embedded analog STM32F3x UM1080 9 2 42 53 Current sensing To maximize the resolution of the measurement the embedded Programmable Gains Amplifier PGA can be used to adapt the level of voltage drop in the shunt resistor Rshunt caused by the motor current up to the maxim
38. ed in the folder Project EWARM e KSTM32F0xx Workspace for STM32F0xx devices and simple time base e STM32F10x_Workspace for both STM32F100xx and STM32F103xx devices and simple time base e KSTM32F2xx Workspace for STM32F2xx devices and simple time base e STM32F30x_Workspace for STM32F302 303 devices and simple time base e STM32F4xx_Workspace for STM32F4xx devices and simple time base e STM32F10x_RTOS_ Workspace for both STM32F100xx and STM32F103xx devices and FreeRTOS e STM32F2xx_RTOS_ Workspace for STM32F2xx devices and FreeRTOS e STM32F10x_Example for both STM32F100xx and STM32F103xx devices with simple time base and ready to use examples DoclD018802 Rev 6 17 53 Working environment and its customization UM1080 The remaining 5 are for Keil uVision and are stored in the folder Project MDK ARM e STM32FOxx_Workspace for STM32FO0xx devices and simple time base e STM32F10x_Workspace for both STM32F100xx and STM32F103xx devices and simple time base e STM32F2xx_Workspace for STM32F2xx devices and simple time base e STM32F4xx_Workspace for STM32F4xx devices and simple time base e STM32F30x_Workspace for STM32F302 303 devices and simple time base Previously the built lib files are linked with the user project in order to generate the file that can be downloaded into microcontroller memory for execution Figure 7 provides an overview of the IAR EWARM IDE workspace located in Installation folder Project E
39. eee 31 7 2 3 Dual control panel page 2 0 2 000 cee ee ees 33 7 2 4 Speed controller page 20 cece eee eee 35 7 2 5 Current controllers page 000 cee eee 37 8 Introduction to the PMSM FOC drive 0 00 cee eee eee 39 9 Current sensing and protection with embedded analog STM32F3x 41 9 1 Introduction 2 2 20 41 9 2 Current sensing 20000eeeeeeennnn nesker Ae hate ee 42 9 3 Overcurrent protection 2200e ennen kk kk eee 44 2 53 DocID018802 Rev 6 ky UM1080 Contents 9 4 Resources allocation single drive 2 0 0 cee ee 45 9 5 Resources allocation dual drive 0 0 ee 45 10 Overvoltage protection with embedded analog STM32F3x 48 11 Revision history 22 240 dees Sone siseee eda adee te eeceet etches 51 ST DocID018802 Rev 6 3 53 List of tables UM1080 List of tables Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 4 53 Project Configurations een el and ea eee eae Ra eA 23 Joystick actions and conventions 0 00 cece eee 28 List of controls used in the LCD demonstration program 00 eee eee eee 30 Fault conditions list resonera SN ERE tees 33 Control GfOUPS 24 65 tsk DE sas SR Erea dial ee bad dhinde diana as 35 Speed controller page controls 0 seen ennen tees 36 Control QfOUPS crea e rasta ane SENER dove Bane eee dente a baled A ban eee date 37 Current cont
40. eir inputs and pins is linked to that of PGA peripherals and theirs inputs e If Embedded HW OCP is enabled and Embedded PGA is disabled the selection of comparators is free e If Embedded HW OCP and Embedded PGA are both disabled the selection of comparators and ADCs is free DocID018802 Rev 6 ky UM1080 Current sensing and protection with embedded analog STM32F3x 3 The pairs that can be used are OPAMP1 OPAMP2 can be used in a project based on STM32F302 or STM32F303 OPAMP3 OPAMP4 can be used additionally in a project based on STM32F303 ADC1 ADC2 can be used in a project based on STM32F302 or STM32F303 ADC3 ADC4 can be used additionally in a project based on STM32F303 If both PGA and comparator for OC protection are used they will share the same input pins for the motor current measurement signal Dual Three shunts topology shared resources If both drives are Three shunts it can be possible to share the ADC and or the PGA to perform the motor current measurement To do this it is mandatory to have both use external operational amplifier or both use the embedded PGA for the motor current measurement signals amplification It can be settled by the user in the ST MC Workbench clicking the Shared resource check box in the Control Stage gt Analog Input If shared resource is settled and external operational amplifier is used it is possible to use the pairs
41. esent The list of possible faults is summarized in Table 4 If a fault condition occurred and is over the relative label is displayed in blue If a fault condition is still present the relative label is displayed in red It is gray if there is no error To acknowledge the fault condition press the Fault ack button 8 If a fault condition occurs the motor is stopped and it is no longer possible to navigate in the other pages In this condition it is not possible to restart the motor until the fault condition is over and the occurred faults have been acknowledged by the user pushing the Fault ack button 8 If a fault condition is running the Fault ack button is disabled 3 DocID018802 Rev 6 UM1080 Full LCD user interface 7 2 3 3 Table 4 Fault conditions list Fault Description This fault occurs when the microcontroller break input signal is activated It is Overcurrent ae ois usually used to indicate a hardware over current condition This fault occurs when the programmed rev up sequence ends without Revup fail validating the speed sensor information The rev up sequence is performed only when the state observer is configured as primary speed sensor This fault occurs only in RUN state when the sensor no longer meets the Speed fdbk conditions of reliability This fault occurs when the software detects a general fault condition In the SW error present implementation the software error is raise
42. face UM1080 6 How to download the full LCD user interface When an STM32 evaluation board equipped with LCD such as STM3210B EVAL STM3210E EVAL STM32100B EVAL STEVAL IHM022V1 STM322xG EVAL STM324xGEVAL STEVAL IHM039V1 or STM32303C EVAL is in use you can enable the LCD plus Joystick User Interface a useful feature of the demonstration user project that can be used as run time command launcher fine tuning or monitoring tool screens and functions are described in Section 7 This option can be selected via a setting in the ST MC Workbench GUI See Figure 12 In this case download the LCD UI software single or dual drive configuration following the procedure explained below in a reserved area in the microcontroller located at the end of the addressable Flash memory Unless you erase it or change the configuration from single drive to dual drive or vice versa there is no need to download it again Even disabling the option with the GUI does not mean you need to flash it again when you re enable the option The latest STM3210B MCKIT Motor Control starter kits come with the Motor Control Library and LCD UI software single drive pre flashed If your Motor Control kit has a previous version of Motor Control Library you do not have the Motor Control kit but you are using one of the mentioned evaluation boards or you are changing configuration single dual you should follow one of the three procedures explained below to download the
43. ference 1 in Figure 21 ly reference 2 Description Sets and reads the I reference for the active motor This control is read only if the active motor is set in speed mode otherwise it can be modified The reference is expressed in s16A To convert current expressed in Amps to current expressed in digits use the formula Current s16A Current Amp 65536 Rshunt Aop Vdd micro Sets and reads the lg reference for the active motor This control is usually read only if the active motor is set in speed mode otherwise it can be modified The lg reference is expressed in s16A Measured I 3 Reads the measured I for the active motor Measured I is expressed in s16A and is a read only control Iq PI D gain KP 5 Sets the proportional coefficient of the I current controller for the active motor The value set in this control is automatically sent to the motor control related object allowing the run time tuning of the current controller Iq PI D gain KI 6 Sets the integral coefficient of the Iq current controller for the active motor The value set in this control is automatically sent to the motor control related object allowing the run time tuning of the current controller Id PI D gain KP 7 Sets the proportional coefficient of the lg current controller for the active motor The value set in this control is automatically sent to the motor control related object allowing the run time t
44. ltered PWM signal option is available 3 DocID018802 Rev 6 UM1080 Documentation architecture 2 2 1 3 Documentation architecture Where to find the information you need Technical information about the MC SDK is distinguished and organized by topic The following is a list of the documents that are available and the subjects they cover STM32F PMSM single dual FOC SDK UM1052 provides the followings Features Architecture Workspace Customization processes Overview of algorithms implemented FOC current sensors speed sensors embedded analog topologies supported MC API Demonstrative user project Demonstrative LCD user interface Demonstrative serial communication protocol Advanced developers guide for STM32F MCUs PMSM single dual FOC library UM1053 This provides the followings Object oriented programming style used for developing the MC library Description of classes that belong to the MC library interactions between classes Description of tasks of the MCA MC library source documentation Doxygen compiled HTLM file This provides a full description of the public interface of each class of the MC library methods parameters required for object creation MC Application source documentation Doxygen compiled HTML file This provides a full description of the classes that make up the MC API User Interface source documentation Doxygen compiled
45. n RPM The value set in this control is not automatically sent to the motor control related object but it is used to perform a speed ramp execution See the Exec button description 9 Set the duration of a speed ramp 8 This is related to motor 2 This control is only present if motor 2 is set in speed mode The duration is expressed in milliseconds The value set in this control is not automatically sent to the motor control related object but it is used to perform a speed ramp execution See the Exec button description 9 It is possible to set a duration value of 0 to program a ramp with an instantaneous change in the speed reference from the current speed to the final motor speed 6 Execute a speed ramp by pushing the Exec button 9 This is related to motor 2 This control is only present if motor 2 is set in speed mode The Exec speed ramp command is sent to the motor control related object together with the final motor speed and duration currently selected 6 The Exec speed ramp command performs a speed ramp from the current speed to the final motor speed in a time defined by the duration The command is buffered and takes effect only when the motor is in RUN state To read the motor speed respectively 2 and 7 for motor 1 and motor 2 The motor speed is expressed in RPM This control is read only Send a start stop command 4 for motor 1 10 for motor 2 This is performed by pushing the start stop button A start stop
46. oad from file TIONSLCD Project HEXSSTM3210B_EVAL_SINGLEDRIVE hed El Erase necessary pages No Erase Global Erase h 8013800 Y I Jump to the user program IT Optimize Remove some FFs IV Verify after download I Apply option bytes El e Upload from device m Upload to file e Enable Disable Flash protection C Edit option bytes MS19348V1 Option 3 This option is intended for users who want to modify the LCD UI code 1 Use an IDE to rebuild and download the LCD UI 2 After parameter files are generated by the GUI to set the single dual drive configuration using KEIL uVision4 IDE open the workspace located in Installation folder LCDProject MDK ARM STM32F0xx LCD Project uvopt Installation folder LCDProject MDK ARM STM32F10x LCD Project uvopt Installation folder LCDProject MDK ARM STM32F2xx LCD Project uvopt Installation folder LCDProject MDK ARM STM32F3xx_ LCD Project uvopt Installation folder LCDProject MDK ARM STM32F4xx_ LCD Project uvopt 3 26 53 DoclD018802 Rev 6 UM1080 How to download the full LCD user interface Figure 14 LCD UI project g Peripherals Tools SVCS Window Help I b fm mp PRB R GE E a 29 CD Drawcnar Ja la o o 0 ema SGEN R mwao UR AS 5 63 LCD Interface 5 3 Std project template 6 STMFC S Ul Library BG user 8 main c L
47. or Keil uVision so that it corresponds with the user s current system 1 Using the ST MC Workbench GUI configure the firmware according to the HW motor and specific drive setting of the system This part of the process ends by generating the h parameters in the correct directory Installation folder SystemDriveParams If the system is configured to enable the LCD User Interface download the specific firmware See Section 6 How to download the full LCD user interface this step is to be done only once Using IAR EWARM IDE follow the point 3 4 5 6 Using Keil uVision follow the point 7 8 9 10 Open the MC workspace of choice Installation folder FreeRTOS Project EWARM STM32F10x_RTOS_Workspace eww Installation folder FreeRTOS Project EWARM STM32F2xx_RTOS_Workspace eww Installation folder Project EWARM STM32F0xx_Workspace eww Installation folder Project EWARM STM32F10x_Workspace eww Installation folder Project EWARM STM32F2xx_Workspace eww Installation folder Project EWARM STM32F30x_Workspace eww Installation folder Project EWARM STM32F4xx_Workspace eww Enable the user project call out 1 in Figure 9 Workspace batch build for IAR EWARM IDE and select the appropriate option from the combo box call out 2 in Figure 9 If none of the boards displayed is in use read Table 1 Project configurations to perform a correct configuration Press F8 to batch build the entire workspace The dialog
48. p B is related to the second motor e Group C does not depend on speed torque settings The control present in this group is related to both motors Figure 19 shows an example in which the first motor is set in torque mode and the second motor is set in speed mode The controls present in this page are used as follows e To set the I reference 1 This is related to motor 1 and is only present if motor 1 is set in torque mode I reference is expressed in s16A In this page the current references are always expressed as Cartesian coordinates Iq lq DoclD018802 Rev 6 33 53 Full LCD user interface UM1080 Note 34 53 Figure 19 Dual control panel page STM32 FOC SDK Dual control panel ee re Torque mode Motor 1 A 7 Mo Speed mode I Iq ref Speed i 150001500 Id ref Ramp duration JEC o 10008 Exe To set the lg reference 3 This is related to motor 1 This control is only present if motor 1 is set in torque mode Id reference is expressed in s16A In this page the current references are always expressed as Cartesian coordinates Iq q To convert current expressed in Amps to current expressed in digits use the following formula Current s16A Current Amp 65536 Rshunt Aop Vdd micro Set the final motor speed of a speed ramp 6 This is related to motor 2 This control is only present if motor 2 is set in speed mode Motor speed is expressed i
49. poses you need to verify that you have an available COM port RS232 on your PC After the program is installed run the Flash loader demonstrator application from the Programs menu making sure that the device is connected to your PC and that the boot configuration pins are set correctly to boot from the system memory check the evaluation board user manual Reset the microcontroller to restart the system memory boot loader code When the connection is established the wizard displays the available device information such as the target ID the firmware version the supported device the memory map and the memory protection status Select the target name in the target combo box Click the Download to device radio button see Figure 13 and browse to select the appropriate hexadecimal file STM3210B EVAL hex STM32100B EVAL hex STM3210E_EVAL hex STEVAL_IHM022V1_SINGLEDRIVE hex STEVAL_IHM022V1_DUALDRIVE hex STM322xG EVAL hex STM324xG EVAL hex STEVAL_IHM039V1_SINGLEDRIVE hex or STEVAL_IHM039V1_DUALDRIVE hex from Installation folder LCD Project Hex Program the downloading to Flash memory After the code is successfully flashed setup the board to reboot from the user Flash memory and reset the microcontroller DoclD018802 Rev 6 25 53 How to download the full LCD user interface UM1080 Figure 13 Flash loader wizard screen Flash Loader Demonstrator STMicroelectronics C Erase All Download to device Downl
50. pressed in milliseconds and represents respectively e The duration of the detection phase of the OTF startup Within this duration the reliability of the sensorless measurements are tested in order to validate the speed and run directly in FOC e The duration of the braking phase that is applied if the sensorless measurements doesn t give reliable measurement during the detection phase During the braking phase the motor is brake in order to stop it before the new acceleration Both Basic startup profile and Advanced startup profile can be used if the OTF startup is enabled The two extra phases detection phase and braking phase are common of the two profiles The startup profile can be set by the user to define the acceleration strategy if the speed of the motor is below the reliability threshold during the detection phase DocID018802 Rev 6 ky UM1080 Working environment and its customization 5 5 1 3 Working environment and its customization The working environment for the Motor Control SDK is composed of e APC e A third party integrated development environment IDE e A third party C compiler e AJTAG SWD interface for debugging and programming e An Application board with an STM32F0xx STM32F100xx STM32F103xx STM32F2xx STM32F30x or STM32F4xx properly designed to drive its power stage PWM outputs to gate driver ADC channels to read currents DC bus voltage
51. project based on STM32F302 or STM32F303 from the dialogue window located in Control Stage gt Analog Input gt Phase current feedback setting External protection as OCP protection topology In any case either using embedded comparators or external components a digital filter upstream the BKIN2 function can be enabled and configured to reject noises J DoclD018802 Rev 6 UM1080 Current sensing and protection with embedded analog STM32F3x 9 4 Resources allocation single drive For project based on STM32F302 303 the current feedback network configurations supported by STM32 FOC SDK are single shunt and three shunt Single shunt topology according to configuration as explained in Section 9 2 and 9 3 one ADC one OPAMP one comparator and one DAC channel must be assigned e f Embedded PGA is enabled the selection of ADC peripheral and input pin is linked to that of PGA peripheral e f Embedded HW OCP and Embedded PGA are enabled the selection of ADC and comparator and their input and pins is linked to that of PGA peripheral and its input e f Embedded HW OCP is enabled and Embedded PGA is disabled the selection of comparator is free e f Embedded HW OCP and Embedded PGA are both disabled the selection of comparator and ADC is free e If both PGA and comparator for OC protection are used they will share the same input pins for the motor current me
52. re setting and insert manually the Ld Lq ratio To setup the One touch tuning is necessary to indicate the kind of load connected to the motor in a qualitative way e No load small medium sized motor without any load e Medium load medium sized motor connected with load like pump of small fan e Big load medium high sized motor connected with full load of big fan This can be selected with the drop down menu One touch tuning in Motor Electrical parameters dialog like shown in Figure 2 In this case the pre computed PI coefficient of current and speed regulators done by ST MC Workbench will not be used to drive the motor but they will be computed by the Motor profiler algorithm With the Motor profiler feature enabled and before to run it is necessary as usual to generate the h files into the SystemDriveParams folder compile and download the DocID018802 Rev 6 ky UM1080 Motor profiler and One Touch Tuning executable into the microcontroller using a supported IDE like IAR Embedded Workbench or Keil Microvision as explained in the UM1052 Chapter 9 Working environment When the firmware is compiled and flashed into the Micro is possible to use the ST MC Workbench real time communication to send a Motor profiler command To do this is necessary to Connect the control board with PC using RS232 COM null modem cable and press the Motor profiler button as shown in Figure 3
53. rives since the configuration applies to each shunt resistor conditioning network DocID018802 Rev 6 ky UM1080 Current sensing and protection with embedded analog STM32F3x 3 Figure 26 Current sensing network using internal gains plus filtering capacitor 6 PWM RSnunt STM32F3xx MS33519V1 On the other hand it is possible to setup the motor current measurement network to use external operational amplifiers In this case the amplified signals are directly fed to the ADC channels By using the ST MC Workbench creating a project based on STM32F302 or STM32F303 from the dialogue window located in Control Stage gt Analog Input gt Phase current feedback setting External OPAMP as current sensing topology Figure 27 STMCWB window related to PGA COMP settings for motor currents Control Stage Analog Input and Protection z Phase current feedback Bus voltage feedback Temperature feedback PFC stage feedback Current Sensing Topology Over Current Protection Topology D ib El Embedded HW OCP Extemal Protection Etemal OPAMP No protection Sensing Setting Pin map Sampling Time 615 x ADC ck Chphase U ADCTIN3 A Sampling Ti biel m Ch phase V ADC2_IN3 A6 Maximum modulation 2 Peripheral Selection ADCI ADC2 Sensing OPAMP Setting Pin map Peripheral selection OPAMP1 OPAMP2 vw Not inverting Investing Output OPAMP Gain Biema v Chu Al r OPAMP A3 v OPAMPI A2 Chv
54. rollers page controls 0 0 c eee ee tee 38 Document revision history 1 2 0 0 00 51 3 DocID018802 Rev 6 UM1080 List of figures List of figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Figure 30 3 Motor profilek 5 rr ote ade mra ea SE p Yee eee Mey dwg at a dere ede 11 How to enable Motor Profiler nauau auaa 12 Send a Motor profiler command aaan anana 13 Dialog showing the measured parameter 000 cece eee 14 Enabling On the fly start up with Basic profile 0 000 c eee eee eee 15 Enabling On the fly start up with Advanced profile 00 200 eee eee eee 16 IAR EWARM IDE Workspace overview 00000 0 eee eee ee ee eee ee 18 Keil uVision workspace overview 000 00 cece eee 19 Workspace batch build for IAR EWARM IDE 2200 eee 21 Workspace batch build for Keil uVision 000 000 ee 22 Customization process 0 000 ccc ete eee 22 Enabling the full LCD Ul in the ST MC Workbench 0 0 0 e eee eee 24 Flash loader wizard screen 1 2 0 ce ee eee 26 Eemil Fens o senso 22k aati tee Wena ata E eon cad
55. s the list of controls used in the LCD demonstration program You can navigate between focusable controls in the page by pressing the joystick UP and DOWN The focused control is highlighted with a blue rectangle When focused you can activate the control by pressing JOYSEL DoclD018802 Rev 6 29 53 Full LCD user interface UM1080 30 53 For some configurations such as STM32F100B EVAL and STM320518 EVAL a reduced set of LCD pages and or controls is available Complete documentation about this LCD User Interface can be found in User manual STM32F PMSM single dual FOC SDK UM1052 Table 3 List of controls used in the LCD demonstration program Control name and Description examples Manages a numerical value It can be read only or read write A read only edit box has a gray background and cannot be focused A Edit box read write edit box has a white background and can be focused When a read write edit box is focused it can be activated for modification by pressing JOYSEL An activated read write edit box has a green 1500 rpm background and its value can be modified pressing and or keeping joystick UP DOWN pressed The new value is set to the motor control related object instantaneously when the value changes unless otherwise mentioned in this manual Manages a list of predefined values Combo box For example Speed or Torque control mode When focused it can be activated for modification by pres
56. sampling control mode optional algorithm Optimized I PMSM and SM PMSM drive Programmable speed ramps parameters duration and final target Programmable torque ramps parameters duration and final target Real time fine tuning of PID regulators Sensorless algorithm Flux weakening algorithm Start up procedure in case of sensorless Fault conditions management Over current Over voltage Over temperature Speed feedback reliability error FOC algorithm execution overrun Easy customization of options pin out assignments CPU clock frequency through ST MC Workbench GUI C language code Compliant with MISRA C 2004 rules Conforms strictly with ISO ANSI Object oriented programming architecture User project and interface features There are two available options FreeRTOS based user project for STM32F103xx and STM32F2xx only SysTick timer easy scheduler based user project DoclD018802 Rev 6 7 53 Motor control library features UM1080 8 53 Available User Interface options and combinations of them Full LCD plus joystick Light LCD plus joystick Serial communication protocol bidirectional compatible with ST MC Workbench GUI Serial communication protocol fast unidirectional Drive system variables logging displaying via SPI DAC DAC peripheral is not present in the STM32F103xx low or medium density in this case RC fi
57. sing JOYSEL An activated combo box has a green background and its value can be Speed Y modified by pressing the joystick UP DOWN When the value changes the new value is instantaneously set to the motor control related object unless otherwise mentioned in this manual Button Sends commands For example a start stop button A disabled button is drawn in light gray and cannot be focused An enabled button is painted in black and can be focused When focused pressing JOYSEL corresponds to pushing the button and sending the related command 3 DocID018802 Rev 6 UM1080 Full LCD user interface 7 2 1 7 2 2 3 Welcome message After the STM32 evaluation board is powered on or reset a welcome message displays on the LCD screen to inform the user about the firmware code loaded and the version of the release See Figure 17 Figure 17 STM32 Motor Control demonstration project welcome message Help page Use the joystick to work with the application UP DOWN to move between enabled controls LEFT RIGTH to move between application pages LCD manager i version s SEL to interact with ae selectecontrol LCD managewer xxx yy Copyright R STMicroelectronics MS33805V2 Configuration and debug page Press the joystick RIGHT from the welcome page to enter the Configuration and debug page To navigate between focusable controls on the page press the joystick UP D
58. st be sized depending on the bus voltage range requested by the target application so that is never exceeds the MCU s input maximum admissible voltage level e This reading is compared to an over voltage threshold to generate a fault signal e f the threshold is exceeded a break signal stops the PWM generation putting the system in a safe state As mentioned before these actions can be performed automatically using the internal comparator of the STM32F30x In this case it is convenient to use the second break functionality BRK of the advanced timer in order to differentiate the action to perform on the PWM signals in case of an over current disable PMW generation or turn on low side switches 3 DocID018802 Rev 6 UM1080 Overvoltage protection with embedded analog STM32F3x 3 The MC library can be arranged to match these configurations by using the ST MC Workbench to create a project based on STM32F302 or STM32F303 From the dialogue window located in Control Stage gt Analog Input gt Bus voltage feedback Figure 29 setting Embedded HW OVP checkbox HW OVP internal threshold selecting Internal in the Inverting input drop down list and choosing the internal voltage reference among available values in Comparator Input HW OVP external threshold selecting External in the Inverting input drop down list and editing the external voltage reference in Comparator Input
59. ttom of the three inverter legs only when running on STM32F103xx STM32F2xx STM32F302xB C STM32F303xB C or STM32F4xx Embedded analog STM32F 30x only PGA Programmable Gain Amplifiers for current sensing support for three shunt and single shunt internal and external gain Comparators for overcurrent protection support for three shunt and single shunt internal and external threshold Comparators for overvoltage protection support for motor phases short circuiting mode and free wheeling mode internal and external threshold FOC hardware acceleration STM32F30x only ADC queue of context ST patented architecture support CCM Core Coupled Memory RAM support 3 DocID018802 Rev 6 UM1080 Motor control library features 1 1 3 Advanced Timer structures for single shunt ST patented support Flux weakening algorithm to attain higher than rated motor speed optional Feed Forward high performance current regulation algorithm optional SVPWM generation Centered PWM pattern type Adjustable PWM frequency Torque control mode speed control mode on the fly switching capability Brake strategies optional Dissipative DC link brake resistor handling Motor phases short circuiting with optional hardware over current protection disabling motor phases free wheeling When running Dual FOC any combination of the above mentioned speed feedback current
60. um range allowed by the analog to digital converter ADC The PGA has a set of fixed internal gains x2 x4 x8 x16 An alternative option in PGA mode allows you to route the central point of the resistive network on one of the I Os connected to the non inverting input this feature can be used for instance to add a low pass filter to PGA as shown in Figure 26 On the other hand if a different value of amplification is required it is possible to completely define the amplification network for instance as it s shown in Figure 25 Figure 25 Current sensing network using external gains 6 PWM STM32F3xx MS33518V1 The MC library can be arranged to match all the configurations shown by using the ST MC Workbench creating a project based on STM32F302 or STM32F303 from the dialogue window located in Control Stage gt Analog Input gt Phase current feedback Figure 27 setting Embedded PGA as current sensing topology PGA internal gain like in Figure 24 Settling Internal in the OPAMP Gain drop down list PGA external gain like in Figure 25 Settling External in the OPAMP Gain drop down list PGA internal gain with external filtering capacitor like in Figure 26 Settling Internal in the OPAMP Gain drop down list and checking the Feedback net filtering check box in the same group Just one of this setting is present in the workbench for each d
61. uning of the current controller This control is only read if the link check box is checked Id PI D gain KI 8 Sets the integral coefficient of the lq current controller for the active motor The value set in this control is automatically sent to the motor control related object allowing the run time tuning of the current controller This control is only read if the link check box is checked ky DoclD018802 Rev 6 UM1080 Introduction to the PMSM FOC drive 8 3 Introduction to the PMSM FOC drive This software library is designed to achieve the high dynamic performance in AC permanent magnet synchronous motor PMSM control offered by the well established field oriented control FOC strategy With this approach it can be stated that by controlling the two currents igs and igs which are mathematical transformations of the stator currents it is possible to offer electromagnetic torque T regulation and to some extent flux weakening capability This resembles the favorable condition of a DC motor where those roles are held by the armature and field currents Figure 22 Basic FOC algorithm structure torque control Power converter MS19340 1 DoclD018802 Rev 6 39 53 Introduction to the PMSM FOC drive UM1080 40 53 Figure 23 Speed control loop AC Mains i gt MS33800 DoclD018802 Rev 6 3 UM1080 Current sensing and prot
62. ush button In the default firmware configuration the LCD management is enabled It can be disabled using the STM32 MC Workbench or disabling the feature and manually changing the line define define LCD_JOYSTICK_BUTTON_FUNCTIONALITY DISABLE line 316 of the Drive parameters h file LCD User interface structure The demonstration program is based on circular navigation pages Figure 16 shows the page structure The visibility of certain pages shown in Figure 16 depends on the firmware configuration e Dual control panel is only present if the firmware is configured for dual motor drive e Speed controller page is only present when the firmware is configured in speed mode e Sensorless tuning page PLL is only present if the firmware is configured with state observer with PLL as primary or auxiliary speed sensor e Sensorless tuning page CORDIC is only present if the firmware is configured with state observer with CORDIC as primary or auxiliary speed sensor To navigate the help menus use e RIGHT navigate to the next page on the right e LEFT navigate to the next page on the left Figure 16 Page structure and navigation WELCOME HELP PAGE CONFIG AND DEBUG PAGE SENSORLESS TUNING PAGE CORDIC SPEED CURRENT SENSORLESS CONTROLLER CONTROLLERS TUNING PAGE PAGE PAGE PLL RIGHT LEFT MS19355V1 Each page is composed of a set of controls Table 3 present
63. ve and mixed single plus three shunts drives are allowed The sharing of peripherals between single shunt drive and three shunt drive is not allowed The sharing of peripherals between two single shunt drive is not allowed DocID018802 Rev 6 45 53 Current sensing and protection with embedded analog STM32F3x UM1080 46 53 The sharing of peripherals between two three shunt drive is allowed in the forms expressed below Single shunt topology for each motor according to configuration as explained Section 9 2 and 9 3 one ADC one OPAMP and one Comparator must be assigned e f Embedded PGA is enabled the selection of ADC peripheral and input pin is linked to that of PGA peripheral e f Embedded HW OCP and Embedded PGA are enabled the selection of ADC and comparator and their input and pins is linked to that of PGA peripheral and its input e If Embedded HW OCP is enabled and Embedded PGA is disabled the selection of comparator is free If Embedded HW OCP and Embedded PGA are both disabled the selection of comparator and ADC is free e f both PGA and comparator for OC protection are used they will share the same input pins for the motor current measurement signal Three shunts topology mixed with Single shunt topology according to configuration as explained in Section 9 2 and 9 3 two ADCs two OPAMPSs three Comparators and on
64. y is provided as source code and only for the first compilation for both single and dual drive configuration See Figure 11 Figure 11 Customization process ST MC Workbench GUI h Parameter files Project MC Library mr gt LIB Project MS33858V1 3 DocID018802 Rev 6 UM1080 Working environment and its customization 3 Table 1 Project configurations STM32 device part single dual drive selection Viable configuration among existing STM32F0xx Single motor drive STM320518 EVAL STM32F100 low medium high density STM32100B EVAL STM32F103 low density medium density STM3210B EVAL STM32F103 high density XL density Single motor drive STM3210E EVAL or STEVAL IHM022V1_SINGLEDRIVE STM32F 103 high density XL density Dual motor drive STEVAL IHM022V1_DUALDRIVE STM32F2xx Single motor drive STM322xG EVAL STM32F2xx Dual motor drive STM32F2xx_dual STM32F302xB C Single motor drive STM32302C_SINGLEDRIVE STM32F302x6 8 Single motor drive P NUCLEO IHM001_SINGLEDRIVE STM32F303xB C Single motor drive STM32303C EVAL_SINGLEDRIVE STM32F303xB C Dual motor drive STM32303C EVAL_DUALDRIVE STM32F4xx Single motor drive STM324xG EVAL STEVAL IHM039V1_SINGLEDRIVE STM32F4xx Dual motor drive STEVAL IHM039V1_DUALDRIVE DoclD018802 Rev 6 23 53 How to download the full LCD user inter

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