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[原创] ST TM32F303系列32位高性能ARM MCU开发方案

关键词:ARM Cortex-M4 MCU 马达控制 无人机

时间:2017-09-08 10:47:23       作者:ST       来源:中电网

ST公司的TM32F303x6/8系列是基于ARM®Cortex®-M4 RISC核的32位MCU,工作频率高达72MHz,嵌入了浮点单元(FPU),高速嵌入存储器包括高达64KB闪存,12KB SRAM以及各种增强I/O和连接两个APB总线的外设. 此外还集成了2个ADC,3个DAC,3个比较器和一个运放.主要用在BLDC/PMSM马达控制,无人机,遥控汽车和船舶等.本文介绍了TM32F303系统主要特性,功能框图和时钟树,以及评估板STEVAL-ESC001V1主要特性,系统架构图,电路图和电路图.

The STM32F303x6/8 family incorporates the high-performance ARM® Cortex®-M4 32-bit RISC core operating at up to 72 MHz frequency embedding a floating point unit (FPU), high-speed embedded memories (up to 64 Kbytes of Flash memory, 12 Kbytes of SRAM), and an extensive range of enhanced I/Os and peripherals connected to two APB buses.

The STM32F303x6/8 microcontrollers offer up to two fast 12-bit ADCs (5 Msps), up to three ultra-fast comparators, an operational amplifier, three DAC channels, a low-power RTC, one general-purpose, 32-bit timer, one timer dedicated to motor control, and four general-purpose, 16-bit timers. They also feature standard and advanced communication interfaces: one I2C, one SPI, up to three USARTs and one CAN.

The STM32F303x6/8 family operates in the –40 to +85 ℃ and –40 to +105 ℃ temperature ranges from a 2.0 to 3.6 V power supply. A comprehensive set of power-saving modes allows the design of low-power applications.
The STM32F303x6/8 family offers devices in 32, and 64-pin packages.

TM32F303系统主要特性:

• Core: ARM® Cortex®-M4 32-bit CPU with FPU (72 MHz max), single-cycle multiplication and HW division, 90 DMIPS (from CCM), DSP instruction
• Memories
– Up to 64 Kbytes of Flash memory
– 12 Kbytes of SRAM with HW parity check
– Routine booster: 4 Kbytes of SRAM on instruction and data bus with HW parity check (CCM)
• CRC calculation unit
• Reset and supply management
– Low-power modes: Sleep, Stop, Standby
– VDD,VDDA voltage range: 2.0 to 3.6 V
– Power-on/Power-down reset (POR/PDR)
– Programmable voltage detector (PVD)
– VBAT supply for RTC and backup registers
• Clock management
– 4 to 32 MHz crystal oscillator
– 32 kHz oscillator for RTC with calibration
– Internal 8 MHz RC (up to 64 MHz with PLL option)
– Internal 40 kHz oscillator
• Up to 51 fast I/O ports, all mappable on external interrupt vectors, several 5 V-tolerant
• Interconnect Matrix
• 7-channel DMA controller
• Up to two ADC 0.20 μs (up to 21 channels) with selectable resolution of 12/10/8/6 bits, 0 to 3.6 V conversion range, single-ended/differential mode, separate analog supply from 2.0 to 3.6 V
• Temperature sensor
 • Up to three 12-bit DAC channels with analog supply from 2.4 V to 3.6 V
• Three ultra-fast rail-to-rail analog comparators with analog supply from 2 V to 3.6 V
• One operational amplifiers that can be used in PGA mode, all terminals accessible with analog supply from 2.4 to 3.6 V
• Up to 18 capacitive sensing channels supporting touchkeys, linear and rotary touch sensors
• Up to 11 timers
– One 32-bit timer and one 16-bit timer with up to 4 IC/OC/PWM or pulse counter and quadrature (incremental) encoder input
– One 16-bit 6-channel advanced-control timer, with up to 6 PWM channels, deadtime generation and emergency stop
– One 16-bit timer with 2 IC/OCs, 1 OCN/PWM, deadtime generation, emergency stop
– Two 16-bit timers with IC/OC/OCN/PWM, deadtime generation and emergency stop
– Two watchdog timers (independent, window)
– SysTick timer: 24-bit downcounter
– Up to two 16-bit basic timers to drive DAC
• Calendar RTC with alarm, periodic wakeup from Stop
• Communication interfaces
– CAN interface (2.0 B Active) and one SPI
– One I2C with 20 mA current sink to support Fast mode plus, SMBus/PMBus
– Up to 3 USARTs, one with ISO/IEC 7816 interface, LIN, IrDA, modem control
• Debug mode: serial wire debug (SWD), JTAG

图1.TM32F303x6/8框图

图2.TM32F303x6/8时钟树

评估板STEVAL-ESC001V1

The STEVAL-ESC001V1 evaluation board is based on the STM32F303 microcontroller, L6398 driver and STL160NS3LLH7 power MOSFETs. It is an electronic speed controller (ESC) designed to drive a single three phase brushless motor (BLDC/PMSM), performing a sensorless FOC algorithm with speed regulation and active braking function. This unit can accept commands from an external unit for driving and monitoring a flight control board, for instance. For this purpose, several communication bus interfaces (UART, CAN, I²C) are available.

The board includes a BEC 5 V circuit and embeds an overcurrent/overvoltage and thermal protection circuit. Its form factor renders it suitable for small and light R/C vehicles and its motor current capability meets the power requirements of larger vehicles like professional drones.

The STEVAL-ESC001V1 electronic speed controller (ESC) evaluation board drives a single three phase brushless motor with very high performance in sensorless mode (without position sensor).

It is designed to provide fast and efficient propulsion for remote control applications like electric cars, boats and drones and is capable of low and very high speed regulation and strong dynamic response under different load conditions.

An external signal via a communication bus between the board and a generic central unit sets the speed regulation reference and another signal reports the status of the system, including faults, which the central unit can use to trigger corrective events.

The same 6Step (or trapezoidal) control algorithm (often with no shunt resistors) drives the many different ESCs offering various motor current, size and input voltages for remote control applications.

A more sophisticated control algorithm is used in the STEVAL-ESC001V1, based on field oriented control (FOC); it 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 typical system architecture pictured below shows individual ESC boards connected to single brushless motors in a quadcopter system. An external Li-Po battery powers the four boards and a wired bus carries communication between each board and an external unit such as a flight control board.

图3.评估板STEVAL-ESC001V1外形图

评估板STEVAL-ESC001V1主要特性:

 3 phase driver board for BLDC/PMSM motors with discrete N-channel 30 V, 160 A STripFET™ H7 Power MOSFETs
 48-pin STM32 with FPU ARM® Cortex®-M4 MCU with 128 Kbytes Flash, 72 MHz CPU, MPU, CCM, 12-bit ADC 5 MSPS, PGA, comparators
 Nominal operating voltage range: 3S-6S Li-Po battery DC voltage level (11.1 V up to 22.2 V)
 Maximum RMS output current: 20 Arms
 Output peak current: 30 A
 BEC available (5 V, 0.5 A for supplying external board; e.g., flight control board)
 Designed for field oriented control (FOC) in sensorless mode
 Supported by ST motor control software development kit (SDK)
 Ready to use with ST motor profiler
 3-shunt mode supported for motor current sensing
 Cross conduction protection based on L6398 driver
 Overcurrent and overvoltage protection feature (OCP/OVP)
 Thermal measuring and overheating protection with on-board NTC
 Horizontal bus capacitors for low profile
 CAN, UART, I²C, SWD and PWM connectors available
 Fully populated board conception with test points for DAC, GPIOs, PWM signals, motor current feedback and CAN
 User LEDs (green and red)
 Target applications: motor driving for R/C vehicles, UAV drone, electric car etc.
 PCB type and size:
 PCB material: FR-4
 Multi-layer architecture
 Dimensions: 29.1 mm x 58 mm
 RoHS compliant

评估板STEVAL-ESC001V1目标应用:

Motor driving for remote control vehicles, UAV drones, electrical cars and boats, etc.


图4.评估板STEVAL-ESC001V1系统架构图

图5.四翼无人机架构图

图6.评估板STEVAL-ESC001V1框图

图7.评估板STEVAL-ESC001V1功能分布图(正面)

图8.评估板STEVAL-ESC001V1功能分布图(背面)

图9.评估板STEVAL-ESC001V1电路图(1)

图10.评估板STEVAL-ESC001V1电路图(2)

图11.评估板STEVAL-ESC001V1电路图(3)

图12.评估板STEVAL-ESC001V1电路图(4)
评估板STEVAL-ESC001V1材料清单:





详情请见:
http://www.st.com/content/ccc/resource/technical/document/datasheet/group3/38
/c6/ca/d1/f7/d5/4e/30/DM00092070/files/DM00092070.pdf/jcr:content/translations/en.DM00092070.pdf

http://www.st.com/content/ccc/resource/technical/document/user_manual/group0
/06/a3/c1/ae/7d/27/4c/e0/DM00384353/files/DM00384353.pdf/jcr:content/translations/en.DM00384353.pdf

en.DM00092070.pdf
en.DM00384353.pdf

 

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