BLDC driver

• Working Environment
• How to build and Flash
• Program Flow

Working Environment

Tools:

• Enveronment: PlatformIO

• Framework: Arduino

• Code editor: Visual Studio Code

• FOC: Arduino Simple FOC

Hardware:

• Mcu: STM32G030C8T6

How to build and Flash

Setup Visual studio Code

The VS code setup Instructions are available in Getting Started.

• Setup Visual studio code according to the Host operating system.
• Install PlatformIo extension inside VS code
• Install STM32 Platform in PlatformIo
• Install Board support packages for STM32G0C038T6
• Select the board and Framework as Arduino

Building and Flashing Application:

To build the application, clone the affbotics_software repo and go to the folder BLDC_driver

• Pull the repository locally
• Navigate to the directory affbotics_software/firmware/avg/BLDC_driver/
• Select the COM port
• Click Upload

Program Flow

Basic Workflow:

Firmware is present in affbotics_software/firmware/avg/BLDC_driver/src/main.cpp

• BLDC driver board communicates using Modbus over RS485
• The Modbus I registers 0x2000 can be Writen with a value from -200 to 200 for setting the velocity of the motor.
• Where -ve values spin the motor in the opposite direction
• comment the line #define IAM_LEFT for Right motor or leave it uncommented for Left motor

Am a Geek:

• Modbus Register address and SLAVE_ID can be changed by changing #define values
• Motor PID values can be tweaked if needed using motor.PID_velocity.P, motor.PID_velocity.I, motor.PID_velocity.D
• change the phase angle motor.P_angle.P and direction motor.initFOC(0, Direction::CW); if required.