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.