BLDC driver



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.