ST Nucleo F103RB

The Nucleo F103RB is a member of the Nucleo-64 board family.

Configurations

ihm07m1_b16:

These examples are dedicated for the X-NUCLEO-IHM07M1 expansion board based on L6230 DMOS driver for three-phase brushless DC motors.

X-NUCLEO-IHM07M1 must be configured to work with FOC and 3-shunt resistors. See ST documentation for details.

Pin configuration for the X-NUCLEO-IHM07M1 (TIM1 configuration):

Board Function	Chip Function	Chip Pin Number
Phase U high	TIM1_CH1	PA8
Phase U enable	GPIO_PC10	PC10
Phase V high	TIM1_CH2	PA9
Phase V enable	GPIO_PC11	PC11
Phase W high	TIM1_CH3	PA10
Phase W enable	GPIO_PC12	PC12
DIAG/EN	GPIO_PA11	PA11
Current U	ADC1_IN0	PA0
Current V	ADC1_IN11	PC1
Current W	ADC1_IN10	PC0
Temperature	ADC1_IN12	PC2
VBUS	ADC1_IN1	PA1
BEMF1	(NU)	PC3
BEMF2	(NU)	PB0
BEMF3	(NU)	PA7
LED	GPIO_PB2	PB2
+3V3 (CN7_16)
GND (CN7_20)
GPIO_BEMF	(NU)	PC9
ENCO_A/HALL_H1	TIM2_CH1	PA15
ENCO_B/HALL_H2	TIM2_CH2	PB3
ENCO_Z/HALL_H3	TIM2_CH3	PB10
GPIO1	(NU)	PB13
GPIO2	(NU)	PB5
GPIO3	(NU)	PA5
CPOUT	(NU)	PA12
BKIN1	(NU)	PB14
POT	ADC1_IN9	PB1
CURR_REF	(NU)	PB4
DAC	DAC1_CH1	PA4
DEBUG0	GPIO	PB8
DEBUG1	GPIO	PB9
DEBUG2	GPIO	PC6
DEBUG3	GPIO	PC5
DEBUG4	GPIO	PC8

Current shunt resistance = 0.33 Current sense gain = -1.53 (inverted current) Vbus sense gain = 9.31k/(9.31k+169k) = 0.0522124390107 Vbus min = 8V Vbus max = 48V Iout max = 1.4A RMS

IPHASE_RATIO = 1/(R_shunt*gain) = -1.98 VBUS_RATIO = 1/VBUS_gain = 19.152

For now only 3-shunt resistors configuration is supported.