ST STEVAL-ESC002V1 User Manual

Page 1

Introduction

The STEV

AL-ESC002V1 electronic speed controller (ESC) reference design can be used with different kind of drones, from

small racing ones to bigger light drones used for surveying and any 3-phase BLDC application requiring a compact form factor and high speed rotation performance.

Together with the STSW-ESC002V1 firmware package, it implements a sensorless voltage mode six-step driving.

The board is based on the STSPIN32F0A advanced 3-phase brushless motor controller that embeds an ARM® Cortex®-M0 processor, voltage regulators, signal conditioning circuitry and gate drivers in a small 7x7 mm2 QFN package.

Power stage is based on the low resistance (2.8 mΩ) and high speed STL140N6F7 MOSFETs, designed in STripFET™ F7 technology and able to deliver up to 20 A of continuous current.

Figure 1. STEVAL-ESC002V1 reference design: top view with bulk capacitors mounted

Getting started with the STEVAL-ESC002V1 electronic speed controller reference

design

UM2518

User manual

UM2518 - Rev 1 - December 2018 For further information contact your local STMicroelectronics sales of

fice.

www.st.com

Page 2

1 Safety precautions

Warning:

Some of the components mounted on the board could reach hazardous temperature during operation.

While using the board:

• Do not touch the components

• Do not cover the board

• Do not put the board in contact with flammable materials or with materials releasing smoke when heated

After operation, allow the board to cool down before touching it.

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2 Main features and target applications

The STEVAL-ESC002V1 reference design features:

• Based on the STSPIN32F0A:

– Extended operating voltage from 6.7 to 45 V

– Three-phase gate drivers with 600 mA sink/source capability and integrated bootstrap diode

– 32-bit ARM® Cortex®-M0 core operating up to 48 MHz clock frequency

– 4-kByte SRAM and 32-kByte Flash memory with option bytes used for write/readout protection

– 3.3. V buck converter with overcurrent, short-circuit, and thermal protection

– 12 V LDO linear regulator with thermal protection

– 3 rail-to-rail operation amplifiers for signal conditioning

– Comparator for overcurrent protection with programmable threshold

– UVLO protection on each power supply

– Extended temperature range: -40 to +125 °C

• Designed for sensorless six-step driving with BEMF sensing through operational amplifiers embedded in the STSPIN32F0A

• 2S to 6S LiPo battery pack

• Output current up to 20 A

RMS

• Overcurrent protection

• Battery voltage sensing

• UART and I²C interfaces

• RGB LED

• SWD interface to program and debug

• Embedded bootloader

• Very compact and light design: 25 x 40.5 mm PCB size

• RoHS and WEEE compliant

The STEVAL-ESC002V1 reference design mainly targets light drones for professional and recreational purposes, and any 3-phase brushless application requiring a high speed rotation performance.

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3 Hardware overview

The STEVAL-ESC002V1 drives a single three-phase brushless motor.

Figure 2. STEVAL-ESC002V1 components (top view)

Battery positive input

PWM input

RGB LED

SWD connector

UART/I2C

TP1, TP2, TP3 BEMF sensing

outputs

Positive lead of the bulk capacitors

Bulk capacitors

(to be mounted)

Battery negative input

Bootloader connector

Power output W

Power output V

Power output U

LMV321L

TP6, TP7

PA5 and PA7 debug GPIOs

To the motor

To the battery

STSPIN32F0A

Figure 3. STEVAL-ESC002V1 components (bottom view)

Bypass capacitors

STL140N6F7 Power MOSFETs

Bulk capacitors

(to be mounted)

Shunt resistor

(overcurrent protection and current sensing)

Negative lead of the bulk capacitors

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Page 5

Table 1. Test points and connectors

Connector/ Test point Pin Signal GPIO Description

CON1 1 OUTU

Power output U.

It has to be connected to one of the motor phases

CON2 1 OUTV

Power output V

It has to be connected to one of the motor phases

CON3 1 OUTW

Power output W

It has to be connected to one of the motor phases

CON4 1 VBUS

Supply voltage

It has to be connected to the battery positive lead

CON5 1 GND

Ground

It has to be connected to the battery negative lead

1 SWD_CLK PA14 SWD interface clock signal

2 GND Ground

3 SWD_IO PA13 SWD interface data signal

1 TX/SCL PB6

PB6 GPIO:

• UART interface TX signal

• I²C interface SCL signal

2 RX/SDA PB7

PB7 GPIO:

• UART interface RX signal

• I²C interface SDA signal

1 TX PA14 UART TX signal when the bootloader is running

2 RX PA15 UART RX signal when the bootloader is running

3 BOOT0 Boot mode enabler (force high at power-up/reset)

TP1 1 OP3O PF1 BEMF comparator output (phase U)

TP2 1 OP2O PF0 BEMF comparator output (phase V)

TP3 1 OP1O PB1 BEMF comparator output (phase W)

TP4 1 PWM_IN PA6

Ground

It has to be connected to the FCU PWM output

TP5 1 GND

Ground

It has to be connected to the FCU PWM output

TP6 1 PA5 PA5 To debug

TP7 1 PA7 PA7 To debug

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4 Setup

Step 1. Mount the bulk capacitors (included in the package) on the dedicated pads as shown in Figure 1 and

Figure 2

Capacitors must be mounted as follows: negative lead (short one) on the bottom side and positive lead (long one) on the top side.

Warning:

Do not operate without the bulk capacitors properly mounted to not damage the board and the battery.

Step 2. Solder the motor phases to the board as shown in Figure 1.

Color sequence is not important and affects only the rotation direction.

Step 3. Solder the FCU PWM output to the board as indicated in Figure 1: positive on TP4 (round pad) and

negative on TP5 (square pad).

Figure 4. STEVAL-ESC002V1 PWM input from FCU connection details

PWM

Step 4. Connect the board to the battery or to a DC power supply as indicated in Figure 1 (supply range is from

2S to 6S).

Step 5. Supply the board.

Step 6. Program the board through the SWD interface as described in the following section.

The board is ready to use.

4.1

Programming the board

The board is programmed through the microcontroller SWD interface. J1 and the included cable provide access to the SWD interface.

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Setup

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Figure 5. STEVAL-ESC002V1 SWD connection details

Included connector

SWCLK

SWDIO

When the board is connected to the SWD programmer, you can program it in two ways.

Step 1. Write the binary included in the STSW-ESC002V1 firmware package or

Step 2. Compile and download the project included in the STSW-ESC002V1 firmware package (IAR

Embedded Workbench for ARM 8.22).

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5 Board PWM flowchart and interface parameters

After the setup procedure (see Section 4 ), the board is operative.

The STSW-ESC002V1 firmware monitors the pulse duration of the PWM input setting according to the voltage applied to the motor.

Note: The firmware does not monitor the PWM signal frequency. The algorithm considers only the duration of the

positive pulses.

The STEVAL-ESC002V1 default behavior is described below.

1. At power-up the motor is stopped.

2. The ESC waits for at least BSP_BOARD_IF_TIMx_ARMING_VALID_TON pulses before arming (that is allowing the motor driving) the board. Even if the board is armed, the motor is not driven yet.

3. When at least BSP_BOARD_IF_TIMx_START_VALID_TON pulses longer than BSP_BOARD_IF_TIMx_MIN_SPEED_TON_US μs are detected, the motor is started.

4. When more than BSP_BOARD_IF_TIMx_STOP_VALID_TON pulses shorter than BSP_BOARD_IF_TIMx_MIN_SPEED_TON_US μs are detected, the motor is stopped.

5. When the motor is running, the speed is proportional to the PWM pulse duration. The maximum speed is achieved when the pulse duration is BSP_BOARD_IF_TIMx_MAX_SPEED_TON_US μs.

6. If no pulses are detected for more than BSP_BOARD_IF_TIMx_STOP_MS ms, the motor is stopped and the board is disarmed, that is motor driving is not allowed.

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Figure 6. STEVAL-ESC002V1 default behavior: PWM interface flowchart

Disarmed

Stop

1500 ms timeout

expired?

Update speed

Stop count = 0

expired?

> Min. pulse

Stop Count = 0

Pulse detected

NOYES

YES

Arm. Count ++

Start

Armed

Pulse detected

> Min. pulse

Stop Count ++

Pulse detected

YES

1500 ms timeout

expired?

Arm. Count = 0

YES

Start Count > 10

Stop Count > 1000

1500 ms timeout

Start Count ++

Start Count = 0

Arm. Count > 10

YES

The default values for the PWM monitoring code are listed in the following table.

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Table 2. PWM interface parameters

Parameter Description Default

BSP_BOARD_IF_TIMx_STOP_MS

No-PWM timeout in ms 1500

BSP_BOARD_IF_TIMx_ARMING_VALID_TON

Number of valid PWM pulses (any duration) arming the board 10

BSP_BOARD_IF_TIMx_START_VALID_TON

Number of PWM pulses above minimum duration starting the motor

BSP_BOARD_IF_TIMx_STOP_VALID_TON

Number of PWM pulses below minimum duration starting the motor

1000

BSP_BOARD_IF_TIMx_MIN_SPEED_TON_US

Minimum pulse duration (corresponding to minimum speed) in μs

1060

BSP_BOARD_IF_TIMx_MAX_SPEED_TON_US

Maximum pulse duration (corresponding to maximum speed) in μs

2084

(1)

1. The value is calculated according to the following formula (BSP_BOARD_IF_TIMx_MIN2MAX_BITS = 10):

BSP_BOARD_IF_TIMx_MIN_SPEED_TON_US + 2

BSP_BOARD_IF_TIMx_MIN2MAX_BITS

. It is not possible to set an arbitrary

value: the range changes according to the BSP_BOARD_IF_TIMx_MIN2MAX_BITS parameter.

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6 Schematic diagrams

Figure 7. STEVAL-ESC002V1 circuit schematic (1 of 3)

680nF

330nF

PA0

OP3P

PB7

OP2O

PF0

BOOT0

100nF

OP2O

PA1

LSU

HSV

L1 22µH

LSW

PA6

PA13

HSU

OP1P

PB1

PA15

OP2N

VDDA

OP1N

OP3P

PA14

OP3O

PB6

PA4

HSW

OP2P

PA0

PF0

OUTV

VDD

PB1

39K

HSW

OUTV

OP2N

VDD

BLUE

TX/SWCLK

SWDIO

VREG

PA6

680nF

OP3N

OCCOMP

PA4

PA7

RESERVED

GND

PF1

PA7

47µF

RED GREEN

OUTW

OP1P

VDD

EPAD

PA5

100nF

C10

OUTW

OP3N

OP1N

OP1O

VREG12

PA2

OUTU

PB6

OP2P

STSPIN32F0A

PA14

VDD

NRST VM

HSU

VBOOTV

LSV

STPS0560Z

OUTU

PA3

100nF

LSU

HSV

PA1

ZCV ZCU

PA15

ZCW

CURR

PWM_IN

VBUS

680nF

PF1

25V

PA13

TESTMODE

OP1O

VBOOTU

PA2

PA3

BOOT0

SRN3015-220M

10µF

LSV

PB7

VBOOTW

LSW

OP3O

Figure 8. STEVAL-ESC002V1 circuit schematic (2 of 3)

CON1

ERJMP3PF1M0U

R11

PF0

LMV321L

TP3

in+

LSU

PAD

10nF

R22

LSV

PAD

TP1

25R

STL140N6F7

VDD

OUTW

VBUS

R6 25R

R16

VBUS

STL140N6F7

PAD

10k

25R

OP3P

OP1P

HSU

10k

R14

25R

HSV

STL140N6F7

PF1

VCC-

CON3

OUTU

Panasonic

VBUS

25R R4

R10

470k

LSW

R12

OP2P

R20

STL140N6F7STL140N6F7

VDD

10k

OP2N

OUTV

VCC+

PB1

OP1N

OP3O

10k

R21 1k

R23

OP1O

in-

10k10k

out

C13

TP2

0.001

CON2

R171k

R13

10nF

OP2O

PA4

R19

R15

OCCOMP

R18

OP3N

C11

10k

C12100nF

24k

HSW

STL140N6F7

25R

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Figure 9. STEVAL-ESC002V1 circuit schematic (3 of 3)

330

1 2

WARNING! The board is provided with bulk capacitors C21 and C22 not mounted. Mount the bulk capacitors on the board before using it.

1 2 3

PA0

TP6

POWER CONTACT

C19

R28220

PB6

R2939

PA2

CON3

C14

PA6

PA3

POWER CONTACT

CON2

PA15

ASMB-MTB0-0A3A2

RGB LED control

C20

4.7µF

SM03B-SRSS-TB

C17

Debug GPIOs

Bootloader

PWM input

SWD CLK

C22

TP5

R26

Power supply

4.7µF

C18

CON4

4.7nF

VBUS

BOOT0

C21

LD1

VBUS Feedback

SWD prog.

TP7

VBUS

220µF/63V

C16

PA1

PA5

PB7

PA7

C15

PA14

PA13

1 2 3

R25 33k

SWD IO

220µF/63V

Alternative order code Panasonic ECA1JM221 WE 2465850

SH3-SS5-28150 SHR-03V-S-B

Connector: Pre-crimped wire 150 mm Housing 3 poles 1 mm

SW CON

TP4

connector

VDD

PA14

4.7µF

4.7µF 4.7µF

CON5

4.7µF

VBUS

R2739

R24 470k

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7 Bill of materials

Table 3. STEVAL-ESC002V1 bill of materials

Item Q.ty Ref. Part / Value Description Manufacturer Order code

1 3

CON1, CON2, CON3

RECT_PAD257R200D 35_43

Connectors Any -

2 2 CON4, CON5 pad221hole35_43 Connectors Any -

3 4

C1, C3, C10, C12

100 nF 50 V ±10% C0603 X7R

Capacitors Any -

4 1 C2

10 µF 25 V ±10% C0805 X7R

Capacitor Any -

5 3 C4, C6, C7

680 nF 16 V ±10% C0603 X7R

Capacitors Any -

6 1 C5

1 nF 50 V ±10% C0603 X7R

Capacitor Any -

7 1 C8

330 nF 50 V ±10% C0603 X7R

Capacitor Any -

8 1 C9

47 µF 6.3 V ±20% C0805 X5R

Capacitor Any -

9 2 C11, C13

10 nF 50 V ±10% C0603 X7R

Capacitor Any -

10 6

C14, C15, C16, C17, C18, C19

4.7 µF 50 V ±15% C0805 X5R

Capacitors Any -

11 1 C20

4.7 nF 50 V ±10% C0603 X7R

Capacitor Any -

12 2 C21, C22

220 µF 63 V ±20% D400p200-padsmt

Aluminium capacitors

Wurth Electronics

860020775019

Panasonic ECA1JM221

13 1 D1 STPS0560Z SOD-123

Power Schottky rectifier

ST STPS0560Z

14 1 J1

SW CON SM03BSRSS-TB

Jumper JST SM03B-SRSS-TB

15 1 J2

CON2 CON_2pitch49_87-38x75

Jumper Any -

16 1 J3

CON3 CON_3pitch49_87-38x75

Jumper Any -

17 1 LD1 PLCC-4 RGB LED Avago ASMB-MTB0-0A3A2

18 1 L1

22 µH 0.6 A ±20% SRN3015

Fixed inductor Bourns SRN3015-220M

19 2 N1, N2 SHORT Any -

20 6

Q1, Q2, Q3, Q4, Q5, Q6

STL140N6F7 PFLAT_6X5-8LEADS

N-channel 60 V, 0.0024 Ohm typ., 140 A STripFET F7 Power MOSFET in a PowerFLAT 5x6 package

ST STL1401N6F7

21 1 R1

39 K 1/10 W ±5% R0603

Resistor Any -

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Item Q.ty Ref. Part / Value Description Manufacturer Order code

22 6

R2, R3, R4, R5, R6, R7

25 R 1/10 W ±5% R0603

Resistors Any -

23 3 R8, R9, R10

10 k 1/10 W ±1% R0603

Resistors Any -

24 3 R11, R17, R18 1 k 1/10 W ±5% R0603 Resistors Any -

25 3 R12, R14, R16

10 k 1/10 W ±1% R0603

Resistors Any -

26 1 R13 1 m 2 W ±1% R2010 Resistor Panasonic ERJMP3PF1M0U

27 1 R15

470 k 1/10 W ±5% R0603

Resistor Any -

28 1 R19

10 k 1/10 W ±5% R0603

Resistor Any -

29 3 R20, R21, R22 1 k 1/10 W ±1% R0603 Resistors Any -

30 1 R23

24 k 1/10 W ±5% R0603

Resistor Any -

31 1 R24

470 k 1/8 W ±1% R0603

Resistor Any -

32 1 R25 33 k 1/8 W ±1% R0603 Resistor Any -

33 1 R26

330 1/10 W ±5% R0603

Resistor Any -

34 2 R27, R29 39 1/10 W ±5% R0603 Resistors Any -

35 1 R28

220 1/10 W ±5% R0603

Resistor Any -

36 5

TP1, TP2, TP3, TP6, TP7

TP-SMDdiam0_762mm TPD30

Test points Any -

37 1 TP4

TP-SMD-diam1_27mm TP-D50

Test point Any -

38 1 TP5

TP-SMDsquare1_27mm TP-50x50

Test point Any -

39 1 U1

STSPIN32F0A VFQFPN48L7x7x1-49 P

Advanced BLDC controller with embedded STM32 MCU

ST STSPIN32F0A

40 1 U2 LMV321L SOT23-5L

Low-power, generalpurpose operational amplifier

ST LMV321LILT

41 3

Pre-crimped wire

JST SH3-SS5-28150

42 1

Connector housing

JST SHR-03V-S-B

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Bill of materials

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Revision history

Table 4. Document revision history

Date Version Changes

17-Dec-2018 1 Initial release.

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Contents

1 Safety precautions.................................................................2

2 Main features and target applications ..............................................3

3 Hardware overview ................................................................4

4 Setup..............................................................................6

4.1 Programming the board .........................................................6

5 Board PWM flowchart and interface parameters ....................................8

6 Schematic diagrams ..............................................................11

7 Bill of materials...................................................................13

Revision history .......................................................................15

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List of figures

Figure 1. STEVAL-ESC002V1 reference design: top view with bulk capacitors mounted ........................1

Figure 2. STEVAL-ESC002V1 components (top view) ................................................4

Figure 3. STEVAL-ESC002V1 components (bottom view) ............................................. 4

Figure 4. STEVAL-ESC002V1 PWM input from FCU connection details ...................................6

Figure 5. STEVAL-ESC002V1 SWD connection details ...............................................7

Figure 6. STEVAL-ESC002V1 default behavior: PWM interface flowchart ..................................9

Figure 7. STEVAL-ESC002V1 circuit schematic (1 of 3).............................................. 11

Figure 8. STEVAL-ESC002V1 circuit schematic (2 of 3).............................................. 11

Figure 9. STEVAL-ESC002V1 circuit schematic (3 of 3).............................................. 12

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List of tables

Table 1. Test points and connectors .............................................................5

Table 2. PWM interface parameters ............................................................10

Table 3. STEVAL-ESC002V1 bill of materials...................................................... 13

Table 4. Document revision history .............................................................15

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IMPORTANT NOTICE – PLEASE READ CAREFULLY

STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, enhancements, modifications, and improvements to ST products and/or to this document at any time without notice. Purchasers should obtain the latest relevant information on ST products before placing orders. ST products are sold pursuant to ST’s terms and conditions of sale in place at the time of order acknowledgement.

Purchasers are solely responsible for the choice, selection, and use of ST products and ST assumes no liability for application assistance or the design of Purchasers’ products.

No license, express or implied, to any intellectual property right is granted by ST herein.

Resale of ST products with provisions different from the information set forth herein shall void any warranty granted by ST for such product.

ST and the ST logo are trademarks of ST. All other product or service names are the property of their respective owners.

Information in this document supersedes and replaces information previously supplied in any prior versions of this document.

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