BLDC Controller using SimpleFOC

BLDC Stand : B-G431B-ESC1 + MN1005

Youtube Video

Arduino Setup

• Install the Arduino board support package for the STM32.
  • https://github.com/stm32duino/Arduino_Core_STM32
• Install the SimpleFOC library.
  • https://github.com/simplefoc/Arduino-FOC
• Select the following board in arduino ide.
  • Board
    • STM32 boards groups
      • Discovery
  • Board part number
    • B-G431B-ESC1

Code Setup

• Enable to include config.MN1005_tc_vol.hpp in controller/config.hpp

Upload Program

• Select "Mass Strage" as the upload method on the Aruidno IDE.
• Connect the board to the host PC with a usb cable.
• Click the upload button

NANO SFOC

• NOTICE
  • The official support webpage currently seems to be down.
  • The following contains reverse engineered information.
  • It seems that there are multiple variations of the board. I'm not sure the following information is applicable to all versions.
  • Use at your own risk.

Youtube Video

Arduino Setup

• Install the Arduino board support package for the STM32.
  • https://github.com/stm32duino/Arduino_Core_STM32
• Install the SimpleFOC library.
  • https://github.com/simplefoc/Arduino-FOC
• Select the following board in arduino ide.
  • Board
    • STM32 boards groups
      • Generic STM32F1 series
  • Board part number
    • Generic F103CBTx

Code Setup

• Enable to include config.NanoSFOCvX_tc_vol.hpp in controller/config.hpp

Upload Program

• Install STM32CubeProgrammer
  • https://www.st.com/ja/development-tools/stm32cubeprog.html
• Select "STM32CubeProgrammer (Serial)" as the upload method on the Aruidno IDE.
• Set the BOOT0 slide switch to the “1” side.
  • When power is turned on with BOOT0 set to “1”, the MCU boots from internal boot ROM.
• Use a USB-UART converter to connect to the host PC.
• Turn on the power.
  • Apply 5V or VCC (about 12V).
• Click the upload button

Miscellaneous

SimpleFOC Command Cheet Sheet

// disable
ME0
// enable
ME1

// torque
MC0
// velocity
MC1
// angle
MC2
// vel_open
MC3
//angle_open
MC4

// T - Torque control type
// 0 - voltage
MT0
// 1 - dc_current
MT1
// 2 - foc_current
MT2

// e.g.
//   Get value : MVP
//   Set value : MVP0.1

// vel pid
MVP
MVI
MVD
MVL
MVR
MVF
// angle pid
MAP
MAI
MAD
MAL
MAR
MAF
// q curr pid
MQP
MQI
MQD
MQL
MQR
MQF
// d curr pid
MDP
MDI
MDD
MDL
MDR
MDF

// Limits
//  Current
MLC
//  Voltage
MLU
//  Velocity
MLV

controller/controller.ino custom commands.

// Set Motion Target
T1
T0.1

// Encoder Monitor
//  disable
E-1
//  enable (interval = 10 ms)
E10

// SimpleFOC Monitor
//  disable
S0
//  enable
S1

// Run Demo Motions
//  enable
D1
//  disable
D0

// Software Reset
R