STMICROELECTRONICS STMICROELECTRONICS B-G431B-ESC1 Electronic Speed Controller Discovery Kit Operating instructions

UM2516
User manual
Electronic speed controller Discovery kit for drones
with STM32G431CB
Introduction
The B-G431B-ESC1 Discovery kit is mainly based on the STM32G431CB microcontroller,
the L6387 driver and STL180N6F7 power MOSFETs. Its breakable form includes an
electronic speed controller (ESC) board and a daughterboard for user interface with
embedded ST-LINK/V2-1. The ESC has a very compacted size with the goal to drive a
single 3-phase brushless motor (BLDC/PMSM), performing a sensorless field oriented
control (FOC) or 6-step control with speed regulation and active braking function. This unit
can be connected with an external battery (LiPo type) and accepts command signal from
external unit, for instance a flight control board or similar. The system provides different
communication buses (UART, CAN, PWM) for driving and monitoring, and also embeds an
overcurrent and thermal protection circuit. The daughterboard contains an ST-LINK in-circuit
debugger and programmer, allowing the user to program and debug the STM32G431CB
microcontroller directly with a USB cable using a compatible toolset. Its form factor is
suitable for small and very light R/C vehicles and its motor current capability also fits big
vehicle requirements, for instance a prosumer drone.
.
Figure 1. B-G431B-ESC1 Discovery kit
(front view)
Figure 2. B-G431B-ESC1 Discovery kit
(bottom view)
Pictures are not contractual.
April 2019
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www.st.com
1
Contents
UM2516
Contents
1
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2
Ordering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3
2.1
Product marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2
Codification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Development environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.1
System requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2
Development toolchains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
5
Hardware layout and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
6
7
5.1
Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
5.2
Board dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
5.3
Communication, programming and command interfaces . . . . . . . . . . . . . 13
5.4
Motor sensor connection (Hall or encoder) . . . . . . . . . . . . . . . . . . . . . . . 14
5.5
CAN connection and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5.6
STM32G431CB pinout for motor control . . . . . . . . . . . . . . . . . . . . . . . . . 15
Connection and first run of the electronic speed controller (ESC) . . 18
6.1
First case: daughterboard not removed . . . . . . . . . . . . . . . . . . . . . . . . . . 18
6.2
Second case: daughterboard removed . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Schematic diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
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List of tables
List of tables
Table 1.
Table 2.
Table 3.
Table 4.
Table 5.
Table 6.
Table 7.
Ordering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Codification explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Truth table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Main board STM32G431CB pinout for motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Input/output terminal table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
SWD connector for MCU programming (daughterboard removed) . . . . . . . . . . . . . . . . . . 20
Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
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3
List of figures
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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.
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B-G431B-ESC1 Discovery kit (front view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
B-G431B-ESC1 Discovery kit (bottom view). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Target application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
System structure overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Block diagram with ST products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
B-G431B-ESC1 top view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
B-G431B-ESC1 bottom view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
B-G431B-ESC1 board mechanical dimensions (top view) . . . . . . . . . . . . . . . . . . . . . . . . . 12
Communication, programming and command interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Motor sensor connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
ESC connections with CAN communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
B-G431B-ESC1 connection for MCU programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
ST MC Workbench screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
B-G431B-ESC1 I/O connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
PWM input signal for motor speed regulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
SWD configuration on IAR tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
CAN section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Daughterboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
MCU section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Power section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Sensing section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
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1
Features
Features
•
Full reference design for electronic speed controller capable of both sensorless FOC
and 6-step algorithm
•
Designed for drones with up to 6S LiPo battery pack or equivalent suitable DC supply
•
3-phase driver board for BLDC/PMSM motors with discrete N-channel 60 V, 120 A
STripFET F7 power MOSFETs
•
Arm®(a) Cortex®-M4 32-bit STM32G431CB MCU, 213 DMIPS, 128 Kbytes of Flash
memory, 32 Kbytes of SRAM, analog rich, math accelerator
•
On-board ST-LINK/V2-1 debugger /programmer detachable from the main board
•
Output peak motor current (maximum peak current tested with propeller to have an
air-forced cooling): 40 A
•
Designed with SMD ceramic capacitors with very low profile
•
BEC available through the daughterboard (5 V for external board supplying, for
example a flight control board)
•
Support for motor sensors (Hall or encoder)
•
Supported by ST motor control software development kit (SDK) with ST motor profiler
•
3-shunt mode supported for motor current sensing
•
L6387 High voltage high and low-side driver with integrated interlocking function
•
Overcurrent and overvoltage protection feature (OCP/OVP)
•
Thermal measuring and overheating protection with NTC on board
•
ESC ready for communication with any standard flight control unit (FCU):
PWM/CAN/UART
•
Potentiometer and user button available on daughter board
•
2 user LEDs: 1 green LED for 3.3 V level, and 1 red LED configurable by the user
•
Target applications: motor driving for R/C vehicles, UAV drone, electric car or boat
•
PCB type and size:
•
–
FR-4 PCB material
–
8-layer layout
–
Dimensions (including the daughterboard with ST-LINK part): 30 mm x 41 mm
–
Weight (including the daughterboard with ST-LINK part): 9.2 g
RoHS compliant
Figure 3. Target application
a. Arm is a registered trademark of Arm Limited (or its subsidiaries) in the US and/or elsewhere.
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Ordering information
2
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Ordering information
To order the B-G431B-ESC1 Discovery kit, refer to Table 1. Additional information is
available from the datasheet and reference manual of the target STM32.
Table 1. Ordering information
2.1
Order code
Board reference
Target STM32
B-G431B-ESC1
MB1419
STM32G431CBU6
Product marking
Evaluation tools marked as “ES” or “E” are not yet qualified and are therefore not ready to
be used as reference design or in production. Any consequences arising from such usage
will not be at STMicroelectronics’ charge. In no event will STMicroelectronics be liable for
any customer usage of these engineering sample tools as reference designs or in
production.
‘E’ or ‘ES’ marking examples of location:
2.2
•
on the targeted STM32 that is soldered on the board (for illustration of STM32 marking,
refer to the section Package information in the STM32 datasheet at www.st.com).
•
next to the evaluation tool ordering part number, that is stuck or silkscreen printed on
the board
Codification
The meaning of the codification of the Discovery kit is explained in Table 2.
Table 2. Codification explanation
B-XXYYZ-ESCN
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Description
Example: B-G431B-ESC1
XX
MCU series in STM32 32-bit
Arm Cortex MCUs
STM32G4 Series
YY
MCU product line in the series
STM32G431
Z
STM32 Flash memory size:
– B for 128 Kbytes
128 Kbytes
ESCN
Electronic speed controller
version number
ESC1
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Development environment
3
Development environment
3.1
System requirements
3.2
•
Windows® OS (7, 8 and 10), Linux® 64-bit, or macOS®(a)
•
USB Type-A to Mini-B cable
Development toolchains
•
Arm® Keil®: MDK-ARM(b)
•
IAR™: EWARM(b)
•
GCC-based IDEs
a. macOS® is a trademark of Apple Inc. registered in the U.S. and other countries.
b. On Windows® only.
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Description
4
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Description
The B-G431B-ESC1 Discovery kit is an electronic speed controller (ESC) that drives a
single 3-phase brushless motor with very high performances control. It is commonly used
inside R/C field, for instance drones, electric cars and boats, with the goal to provide fast
and efficient propulsion for the movement. This unit must be capable of low- and very highspeed regulation and strong dynamic response to different load conditions. An external
signal, through a communication bus between the ESC board and a generic central unit,
sets the reference value for the speed regulation, and another signal sends the status of the
system. For instance, if a fault occurs, a central unit can decide to enable an emergency
procedure.
In the mass market, a lot of ESCs are available to cover different kinds of R/C models, from
the toy up to the professional unit, with different motor current capabilities, different sizes
and input voltage requirements. All of these boards are based on the same control
algorithm, 6-step or trapezoidal, with no shunt resistors in a lot of cases.
B-G431B-ESC1 performs otherwise more sophisticated and smart control algorithm based
on Field Oriented Control (FOC) comparing with the 6-step algorithm, in particular it offers
the following features:
•
Better torque control
•
Motor current regulation in case of fast load change
•
Vibration reduction
•
Active braking function
•
Better efficiency
•
Noise reduction
•
A real-time monitor of the rotor speed
•
Energy recovery during the deceleration
The Discovery kit is also compatible with the 6-step control with embedded Bemf hardware
circuit for rotor position estimation.
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Description
The typical system architecture is shown in Figure 4.
Each ESC board is connected with a single brushless motor, in this case a quadcopter
system is taken as an example. An external LiPo battery provides the right power to the four
connected boards and through a wired bus, each ESC board receives or sends commands
from or to an external unit, for instance a flight control unit.
Figure 4. System structure overview
The B-G431B-ESC1 provides the maximum flexibility in term of communication protocol
(UART, PWM and CAN are available on board), and it also contains a DC-DC converter on
the daughterboard, with 5 V output connector (BEC) to supply an external board, for
instance a flight control unit or sensors.
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Hardware layout and configuration
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5
Hardware layout and configuration
5.1
Block diagram
The B-G431B-ESC1 Discovery kit is a complete hardware platform (power and control)
based on several ST products as shown in the following block diagram:
Figure 5. Block diagram with ST products
The top side is mainly dedicated to the power section. It is composed of power MOSFETs,
gate drivers and DC-DC converter.
Figure 6. B-G431B-ESC1 top view
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Hardware layout and configuration
The bottom side is mainly dedicated to the digital section. It is composed by the
STM32G431CB microcontroller that performs a three shunt both sensorless and sensored
FOC control and 6-step control in an LQFP 48pin package.
The STM32G431CB devices are based on the high-performance Arm® Cortex®-M4 32-bit
RISC core. They operate at a frequency of up to 170 MHz. The Cortex-M4 core features a
single-precision floating-point unit (FPU), which supports all the Arm® single-precision dataprocessing instructions and all the data types. It also implements a full set of DSP (digital
signal processing) instructions and a memory protection unit (MPU) which enhances the
application's security.
The devices embed peripherals allowing mathematical/arithmetic function acceleration
(CORDIC co-processor for trigonometric functions and FMAC unit for Filter Functions).
They offer two fast 12-bit ADCs (5 Msps), four comparators, three operational amplifiers,
four DAC channels (2 external and 2 internal), an internal voltage reference buffer, a lowpower RTC, one general-purpose 32-bit timers, two 16-bit PWM timers dedicated to motor
control, seven general-purpose 16-bit timers, and one 16-bit low-power timer.
Figure 7. B-G431B-ESC1 bottom view
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Hardware layout and configuration
5.2
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Board dimensions
The total dimension of the B-G431B-ESC1 Discovery kit (PCB) is 30 mm x 41 mm as shown
in Figure 8.
Figure 8. B-G431B-ESC1 board mechanical dimensions (top view)
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5.3
Hardware layout and configuration
Communication, programming and command interfaces
The B-G431B-ESC1Discovery kit is equipped with a USB connector and different pads for
communication, such as:
•
U4 USB port for programming and debugging
•
J1 for CAN port
•
J2 for SWD-STM32F103 (reserved)
•
J3 for PWM/UART/BECout input/output signal
•
J4 for SWD-STM32G431 debug/programming port (without daughterboard)
•
J8 for motor sensor (Hall or encoder)
Figure 9. Communication, programming and command interfaces
The USB interface is provided on the daughterboard and it allows to program and debug the
main board. It provides also the supply voltage to the STM32G431CB MCU in case of no
voltage on the bus (J5 and J6 not connected to the LiPo battery). The USB port is available
to use the ST MC Workbench and Motor Profiler tool directly connected with the PC (no
external dongle is needed).
The CAN interface is provided with transceiver on board and a termination resistor is
provided and manageable by firmware. The J1 connector has also 5V and GND pins (see
Section 5.5 for further info)
The J2 is reserved to program the MCU on the daughterboard.
The J3 pads are available on the top side of the main board. They provide the UART TX and
RX (for telemetry and firmware update respectively), the input PWM channel for motor
speed regulation. In particular the PWM input signal (5 V tolerant) sets the motor speed
according with the Ton duration, for instance 1060 µs for the minimal speed and 1860 µs for
the maximum speed. Other pins are for GND and 5 V. It is a power line to supply an external
board, for example a flight control unit or equivalent. This voltage line is available only if the
daughterboard is not removed.
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Hardware layout and configuration
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The J4 solder pads provide the SWD connection between the STM32G431CB and the
external ST-LINK programmer, if the daughterboard is removed. In this case, other pins are
available, such as 3V3 and GND.
The J8 solder pads allow the connection of the motor sensor, Hall or encoder. Refer to
Section 5.4 for further information.
5.4
Motor sensor connection (Hall or encoder)
The Discovery kit embeds the hardware circuit for Hall or encoder sensor. A supply voltage
line is provided with 5 V and GND line in J8 solder pads. This voltage is available also if the
daughterboard is removed. The ST MC workbench must be configured to use these sensors
during the FOC control.
Figure 10. Motor sensor connection
5.5
CAN connection and configuration
The main board includes the transceiver and the connection pads to use the CAN peripheral
available in the STM32G431CB MCU. The hardware circuit is based on UAVCAN standard
(https://uavcan.org/) so a little fuse is included to protect by overcurrent, so that an
accidental short circuit on the device does not bring down the power on the entire bus. One
CAN output (J1) is provided on-board and T-connectors are needed to create the bus line
with several boards.
This circuit accepts also the supply voltage from the external unit, for example a flight
control unit with a power CAN (5.0 V to 5.5 V on the bus power line). In this case, J1 solder
pads contain the 5V line (input) and if a voltage is applied on it, the main board generates
the 3.3 V for G4MCU and for the transceiver. This feature allows to maintain the
communication also when the battery is discharged or removed. The Figure 11 shows that
two terminator resistors are needed to open and close the CAN bus line. B-G431B-ESC1
includes this terminator resistor (120 Ω) and it is manageable by firmware (CAN_TERM pin)
with a low voltage single-pole-double-throw analog on-board switch (see the CAN page on
the electrical schematic). Table 3 shows the logic to add or remove this resistor.
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Hardware layout and configuration
Figure 11. ESC connections with CAN communication
Table 3. Truth table
CAN_TERM pin
120 Ω resistor
H
ON
L
OFF(1)
1. High impedance
5.6
STM32G431CB pinout for motor control
Table 4. Main board STM32G431CB pinout for motor control
Pin
Default
Signal
Solder Bridge
1
VBAT
3V3
-
2
PC13/TAMP/RTC
TIM1_CH1N
-
3
PC14
CAN_TERM
R26
4
PC15
N.C.
-
5
PF0/OSC-IN
OSC 8Mhz
-
6
PF1/OSC-OUT
OSC 8Mhz
R27
7
PG10/NRST
RESET
-
8
PA0
VBUS
-
9
PA1
Curr_fdbk1_OPAmp+
-
10
PA2
OP1_OUT
-
11
PA3
Curr_fdbk1_OPAmp-
-
12
PA4
BEMF1
-
13
PA5
Curr_fdbk2_OPAmp-
-
14
PA6
OP2_OUT
-
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Hardware layout and configuration
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Table 4. Main board STM32G431CB pinout for motor control (continued)
Pin
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Default
Signal
Solder Bridge
15
PA7
Curr_fdbk2_OPAmp+
-
16
PC4
BEMF2
-
17
PB0
Curr_fdbk3_OPAmp+
-
18
PB1
TP3
-
19
PB2
Curr_fdbk3_OPAmp-
-
20
VREF+
3v3
-
21
VDDA
3v3
-
22
PB10
N.C.
-
23
VDD4
3V3
-
24
PB11
BEMF3
-
25
PB12
POTENTIOMETER
-
26
PB13
N.C.
-
27
PB14
Temperature feedback
-
28
PB15
TIM1_CH3N
-
29
PC6
STATUS
-
30
PA8
TIM1_CH1
-
31
PA9
TIM1_CH2
-
32
PA10
TIM1_CH3
-
33
PA11
CAN_RX
-
34
PA12
TIM1_CH2N
-
35
VDD6
3V3
-
36
PA13
SWDIO
-
37
PA14
SWCLK
-
38
PA15
PWM
-
39
PC10
BUTTON
-
40
PC11
CAN_SHDN,TP2
-
41
PB3
USART2_TX
-
42
PB4
USART2_RX
-
43
PB5
GPIO_BEMF
-
44
PB6
A+/H1
-
45
PB7
B+/H2
-
46
PB8
Z+/H3
-
47
PB9
CAN_TX
-
48
VDD8
3V3
-
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Hardware layout and configuration
Table 5. Input/output terminal table
Main I/O Terminal
Function
J5/J6
LiPo battery power input (3S-6S)
J7
3-phase motor connector
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Connection and first run of the electronic speed controller (ESC)
6
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Connection and first run of the electronic speed
controller (ESC)
For the correct usage and the first run of the B-G431B-ESC1 Discovery kit, the following
procedure is suggested
6.1
First case: daughterboard not removed
1.
Connect a micro USB cable to the USB port on the daughterboard as shown in the
Figure 12, and verify if the green led (D5) is turned on in the main board.
Figure 12. B-G431B-ESC1 connection for MCU programming
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2.
Connect the other part of the cable to the PC port and run the ST MC Workbench tool
for motor and parameters configuration (see Figure 13).
3.
Generate and upload the firmware code into the STM32G431CB MCU with IDE tool
available.
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Connection and first run of the electronic speed controller (ESC)
Figure 13. ST MC Workbench screen
4.
Solder the three motor wires U, V, W at the motor (J7) solder pad with no particular
color sequence (see Figure 14)
5.
Solder the PWM input and GND at J3 connector (pin 4 and pin 5). The PWM input
signal is either 3.3 V or 5 V (the PWM is connected to a 5 V tolerant MCU input pin).
6.
Connect the main board with a LiPo battery (or DC power supply: min 3S - max 6S)
with the right polarity and turn ON. The input connector is composed by two large pads
for soldering. The Transil device prevents damaging in case of reverse polarity at the
input side for low time.
Figure 14. B-G431B-ESC1 I/O connection
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Connection and first run of the electronic speed controller (ESC)
7.
UM2516
Generate on J3 connector a PWM signal at 490 Hz and duty cycle value between
1060 µs and 1860 µs, the motor starts to rotate respectively from the minimum to the
maximum speed. The ESC is not armed (no driving signals generated) if the duty cycle
is lower than 1060 µs.
Figure 15. PWM input signal for motor speed regulation
Note:
In case the motor is already started, a blank time of 1500 ms on PWM signal determines the
switch off of the system (ESC turned OFF).
6.2
Second case: daughterboard removed
In case the daughterboard is removed, Table 6 shows the relation between the SWD pinout
on the main board and SWD on ST-LINK/V2 (not isolated version) external programmer.
Table 6. SWD connector for MCU programming (daughterboard removed)
Pin no. in
STLINK
STLINK/V2
connector
ST-LINK/V2
function
Target connection
(SWD)
Pin no. in DK B-G431BESC1 (J4 pad)
1
VAPP
Target VCC
MCU VDD
3
2
VAPP
Target VCC
MCU VDD
3
6
GND
-
GND
4
7
-
SW IO
SWDIO
1
9
-
SW CLK
SWCLK
2
Set the SWD interface inside the IDE tool, for instance a picture of IAR Workbench is shown
in Figure 16.
If the daughterboard is removed the following pad connections are available on it:
20/29
•
On the top side -> SWDIO, SWCLK
•
On the bottom side -> NRST, +10V,+5V, 5V_ESC, GND
UM2516 Rev 1
UM2516
Connection and first run of the electronic speed controller (ESC)
Figure 16. SWD configuration on IAR tool
UM2516 Rev 1
21/29
28
Schematic diagrams
7
22/29
UM2516
Schematic diagrams
•
Figure 17: CAN section on page 23
•
Figure 18: Daughterboard on page 24
•
Figure 19: MCU section on page 25
•
Figure 20: Power section on page 26
•
Figure 21: Sensing section on page 27
UM2516 Rev 1
4
3
2
UM2516
Figure 17. CAN section
5
1
D
D
U1
1
2
+3.3V
1
2
3
D
CAN_TERM
C1
0.1uF
D
VCC
SEL
S2
GND
S1
6
5
4
5V_ESC
S1
D1
AS11P2TLRQ
STPS1L20MF
C
C
D
F1
250mA
UM2516 Rev 1
S1
J1
CAN
U2
2
+3.3V
1
CAN_TX
C2
0.1uF
CAN_RX
1
2
3
4
TXD
GND
VCC
RXD
S
CANH
CANL
SHDN
8
7
6
5
1
2
3
4
R1
120
TCAN330DCNT
CAN_SHDN
B
B
A
Title
CAN SECTION
Size
A
23/29
Date:
5
4
3
Document Number
ESC RockFish
Monday, October 08, 2018
2
Rev
021
Sheet
1
of
1
5
Schematic diagrams
A
4
3
2
1
+3V3_ST_LINK
U5V
R2
10k
2
4
U5V_ST_LINK
1
C5
0.1uF
2
2
5V_ESC
U5V
R5
1.5k
R6
36k
VBUS
DM
DP
ID
GND
M1
M2
M3
M4
BEC 5V, 0.5A
+3V3_ST_LINK
1
2
3
4
5
R10
10k
U5V
C3
0.1uF
C4
0.1uF
R8
100
USB_DM
USB_DP
R7
100k
6
7
8
9
D2
conn_micro_USB_B
C
1
USB_RENUMn
100
U4
C6
10uF
R4
1
R3
10k
Q1
2STR1160
1
2
Vin Vout_2
Vout_4
GND
POTENTIOMETER
1
3
+3V3_ST_LINK
D
SPEED
2
USART2_RX_ST_LINK
USART2_TX_ST_LINK
T_JTMS
T_JTCK
T_NRST
U3
LD1117S50TR
1
USART2_TX
USART2_RX
SWDIO
SWCLK
NRST
+5V
3
+10V
+3V3_ST_LINK
2
D
Schematic diagrams
24/29
Figure 18. Daughterboard
5
LED_STLINK
R9
C1
A1
C2
A2
LED GREEN RED
100
LED_STLINK
+3V3_ST_LINK
R11
C
0
64#45-*/,
BUTTON
+3V3_ST_LINK
R14
2.7k
1
C8
100pF
USB_RENUMn
STM_JTCK
2
8
7
6
5
3
SW1
miniswitch-KMR211GLFS
1
FAULT
OUT7
OUT6
SET
R13
2
100k
C9
0.1uF
+3V3_ST_LINK
U6
STM32F103CBT6
C13
0.1uF
5
R19
C16
1 uF
R22
C17
0.1uF
10k
4.7k
R23
0
R24
0
USART2_TX_ST_LINK
A
VDD_2
VSS_2
SWDIO
PA12
PA11
PA10
PA9
PA8
PB15
PB14
PB13
PB12
VBAT
PC13
PC14
PC15
OSC-IN
OSC-OUT
NRST
VSSA
VDDA
PA0
PA1
PA2
36
35
34
33
32
31
30
29
28
27
26
25
PA3
PA4
PA5
PA6
PA7
PB0
PB1
PB2
PB10
PB11
VSS_1
VDD_1
NC
+3V3_ST_LINK
4
1
VOUT
2
EN
GND
EP
NX3225GD-8MHZ-STD-CRA-3
3
1
C15
0.1uF
PG
1
2
3
4
R17 N.M. L
OSC_IN 5
OSC_OUT 6
STM_RST 7
8
9
10
11
4.7k
12
R16
+3V3_ST_LINK
VIN
2
1 uF
1
C14
2
R21
1k
2
1
1
C11
10pF
+3V3_ST_LINK
STM_JTMS
USB_DP
USB_DM
T_SWO
LED_STLINK
C12
N.M.
Q'
R18
100
B
MCO
PWR_ENn
T_JTMS
T_JTCK
R20
100
TP1
TP
T_SWDIO_IN
+3V3_ST_LINK
T_JTCK
T_JTDO
T_JTDI
T_NRST
U7
LD39050PU33R
6
2
7
B
R15
100k
U5V
C10
10pF
Y1
13
14
15
16
17
18
19
20
21
22
23
24
+3V3_ST_LINK
VDD_3
VSS_3
PB9
PB8
BOOT0
PB7
PB6
PB5
PB4
PB3
PA15
SWCLK
48
47
46
45
44
43
42
41
40
39
38
37
9
PWR_ENn
IN1
IN2
ON
GND
2
2
1
2
3
4
U5V_ST_LINK
1
U5
ST890DTR
C7
4.7uF
EP
UM2516 Rev 1
1
4
R12
10k
USART2_RX_ST_LINK
C
D3
LNJ347W83RA
(3&&/
J2
A
+3V3_ST_LINK
STM_JTCK
STM_JTMS
1
2
3
4
5
4
A
Title
Daughterboard
Size
B
Date:
3
2
Document Number
ESC ROCKFISH
Monday, October 08, 2018
Rev
021
Sheet
1
2
of
5
UM2516
SWD STLINK
3
D
CAN_TX
2
1
D
TP2
TP
BUTTON
PWM
SWCLK
Z+/H3
B+/H2
A+/H1
GPIO_BEMF
USART2_RX
USART2_TX
4
UM2516
Figure 19. MCU section
5
+3.3V
CAN_SHDN
+3.3V
1
C20
0.1uF
J3
TIM1_CH2N
CAN_RX
TIM1_CH3
TIM1_CH2
TIM1_CH1
WH
VH
UH
+5V
USART2_TX
USART2_RX
PWM
STATUS
TIM1_CH3N
Temperature feedback
WL
GND
1
2
3
4
5
C
PWM
POTENTIOMETER
2
C22
0.1uF
BEMF3
+3.3V
1
L1
600 Ohms@100MHz
C26
10nF
+3.3V
C24
0.1uF
STATUS
+3.3V
TP3
TP
D4
LED RED
C
C
1
2
3
4
B
D5
LNJ347W83RA
-&%(3&&/
J4
SWD-PAD
SWDIO
SWCLK
+3.3V
R29
510
A
R28
510
A
C25
1uF
2
2
Curr_fdbk3_OPAmp-
1
2
1
OP3_OUT
13
14
15
16
17
18
19
20
21
22
23
24
OP2_OUT
B
C19
4.7uF
2
2
SWDIO
VL
1
VDD8
PB9
PB8
PB7
PB6
PB5
PB4
PB3
PC11
PC10
PA15
PA14
2
C21
0.1uF
Curr_fdbk2_OPAmp-
2
1
UM2516 Rev 1
C23
0.1uF
2
1
VBUS
36
35
34
33
32
31
30
29
28
27
26
25
49
1
NRST
VBAT
PC13
PC14-OSC32_IN
PC15-OSC32_OUT
PF0/OSC-IN
PF1/OSC-OUT
PG10-NRST
PA0
PA1
STM32G431
PA2
PA3
PA4
PA13
VDD6
PA12
PA11
PA10
PA9
PA8
PC6
PB15
PB14
PB13
PB12
VSS
2
220
C
1
2
PC13-UL
TIM1_CH1N
3
4
5
6
7
8
PA0 - BUSV
9
Curr_fdbk1_OPAmp+
OP1_OUT 10
11
Curr_fdbk1_OPAmp12
BEMF1
1
R27
3
Y2
8MHz
U8
Curr_fdbk2_OPAmp+
BEMF2
Curr_fdbk3_OPAmp+
2
C18
0.1uF
PA5
PA6
PA7
PC4
PB0
PB1
PB2
VREF+
VDDA
PB10
VDD4
PB11
1
R26
0
48
47
46
45
44
43
42
41
40
39
38
37
1
CAN_TERM
A
Title
MCU SECTION
Size
B
25/29
Date:
5
4
3
2
Document Number
Wednesday, October 10, 2018
Rev
021
Sheet
1
3
of
5
Schematic diagrams
A
4
3
2
1
POWER SECTION
J5
V+
1
D
2
2
C39
15uF
1
2
C38
15uF
1
C37
15uF
1
2
2
C36
15uF
1
C35
15uF
1
2
2
C34
15uF
1
C33
15uF
1
2
2
C32
15uF
1
C31
15uF
1
2
2
C30
15uF
1
2
C29
15uF
1
C28
15uF
1
2
C27
15uF
C40
15uF
A
1
SMM4F26A
1
D20
POWER INPUT
2
C
+
D
J6
1
Schematic diagrams
26/29
Figure 20. Power section
5
U9
R30
4.7k
5
EP
STPS0560Z
C45
22uF
2
1uF
U10
1
2
3
4
+10V
1
2
27pF
C43
1
TIM1_CH1N
TIM1_CH1
R33
300
1
C50
R36
8.2k
D6
2
4.7nF
2
C46
1
R31
62
D7
STPS1L40M
11
R32
34.8k
V+
C42
3.9nF
8
7
6
5
COMP
33uH
4
C47
100pF
BOOT
HVG
OUT
LVG
8
7
6
5
R34
C48
100pF
Q2
STL180N6F7
33
4
R35
10k
L6387ED
C49
470nF
8
7
6
5
TNBMMTJHOBM
LIN
HIN
VCC
GND
1
2
3
FB
3
1
EN
2
2
6
C44
10uF
Fsw
L2
1
2
1
GND
1
2
OUT2
2
.)[
1
+10V
OUT1
VCC9
SYNC
7
C
R39
10k
C52
1
C51
10nF
2
D8
C
1
4
33
R37
1
Q3
STL180N6F7
R38
AUX POWER SUPPLY
1
2
3
2
L7986TR
VCC10
2
8
1
2
1
9
C41
0.22uF
1
10
V+
2
LIN
HIN
VCC
GND
BOOT
HVG
OUT
LVG
8
7
6
5
1uF
8
7
6
5
R40
Q4
STL180N6F7
33
4
R41
10k
1
1
LIN
HIN
VCC
GND
BOOT
HVG
OUT
LVG
C59
10nF
B
L6387ED
8
7
6
5
C62
470nF
1
4
R48
10k
1
2
1
2
2
Q7
STL180N6F7
R50
C63
1uF
4
R52
10k
33
R51
1
1
6
5
4
C61
100pF
Vshunt_2 +
Q6
STL180N6F7
33
1
PAD
Vin
EN
GND
2
R49
30.9k
7
C64
2.2uF
Vout
ADJ
PG
C60
100pF
R47
1
2
3
2
1
1
2
3
1
+10V
5V_ESC
U14
LDFPVR
2
1uF
8
7
6
5
J7
OUT3
1
2
3
STPS0560Z
U13
1
2
3
4
TIM1_CH3N
TIM1_CH3
R44
1
8
7
6
5
1
R46
10k
R45
10k
33
2
C58
1
2
3
4
+3.3V
Motor
3
2
1
Q5
STL180N6F7
R43
D9
B
OUT1
OUT2
L6387ED
C55
470nF
8
7
6
5
C54
100pF
2
C56
1uF
C53
100pF
2
1
+10V
2
6
5
4
2
Vin
EN
GND
7
R42
52.3k
Vout
ADJ
PG
PAD
1
2
C57
2.2uF
+10V
U12
LDFPVR
1
2
3
1
5V_ESC
1
2
3
4
TIM1_CH2N
TIM1_CH2
1
2
3
UM2516 Rev 1
Vshunt_1 +
STPS0560Z
U11
2
Vshunt_3 +
R53
10k
C65
10nF
SHUNT RESISTOR
Vshunt_1 +
Vshunt_2 +
R54
0.003
3W
JP1
Vshunt_1-
Vshunt_3 +
R55
0.003
3W
R56
0.003
3W
JP2
Vshunt_2-
JP3
Vshunt_3-
SHORT
SHORT
SHORT
A
A
POWER SECTION
Size
C
Date:
5
4
3
2
Document Number
(6&52&.),6+
Rev
021
Sheet
Monday, October 08, 2018
1
4
of
5
UM2516
Title
4
3
2
UM2516
Figure 21. Sensing section
5
1
BEMF DETECTION- SIX STEP
+3.3V
+3.3V
D
GPIO_BEMF
D10
BAT30KFILM
+3.3V
GPIO_BEMF
GPIO_BEMF
D11
BAT30KFILM
D12
BAT30KFILM
GPIO_BEMF
GPIO_BEMF
D13
BAT30KFILM
D14
BAT30KFILM
D
GPIO_BEMF
D15
BAT30KFILM
Temperature feedback
C66
1
10nF
2
R57
2.2k
RT1
U
+3.3V
R60
10k
/5$
4.7k
R58
2.2k
R61
R59
2.2k
R62
BEMF1 BEMF1
OUT1
R63
OUT2
BEMF2
10k
10k
BEMF3
OUT3
BEMF3
10k
SHUNT SENSING CIRCUIT
C
+3.3V
UM2516 Rev 1
HALL/ENCODER SENSOR
V+
+3.3V
+3.3V
R64
22k
+3.3V
+3.3V
C
+3.3V
R65
22k
R66
22k
R67
Curr_fdbk1_OPAmp+
J8
R75
1.8k
D16
BAT30KFILM
10pF
C68
10pF
1
1
C67
2
C70
0.1uF
Vshunt_1 +
1.5k
R69
Curr_fdbk2_OPAmp+
Vshunt_2 +
1.5k
R70
Curr_fdbk3_OPAmp+
VBUS_SENS
A+/H1
B+/H2
Z+/H3
R76
18k
VBUS
Curr_fdbk1_OPAmp-
Vshunt_1-
Curr_fdbk2_OPAmp-
Vshunt_2-
Curr_fdbk3_OPAmp-
Vshunt_3B
R80
2.2k
VBUS
C69
Vshunt_3 +
1.5k
R77 1.8k
2
SOLDER PAD
R74 1.8k
2
1
2
3
4
5
1
B
" )
# )
; )
7
(/%
BAT30KFILM
R73
10k
D19
BAT30KFILM
R72
10k
D18
BAT30KFILM
R71
10k
D17
R68
169k
R81
2.2k
R82
2.2k
10pF
5V_ESC
27/29
5
4
A
Title
SENSING SECTION
Size
B
Date:
3
2
Document Number
ESC ROCKFISH
Monday, October 08, 2018
Rev
021
Sheet
1
5
of
5
Schematic diagrams
A
Revision history
UM2516
Revision history
Table 7. Document revision history
28/29
Date
Revision
8-Apr-2019
1
Changes
Initial release.
UM2516 Rev 1
UM2516
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