README
======
The B-G431B-ESC Discovery kit board is based on the STM32G431CB microcontroller,
the L6387 driver and STL180N6F7 power MOSFETs.
UART/USART PINS
---------------
USART2 is accessible through J3 pads and ST LINK Virtual Console:
USART2_TX - PB3
USART2_RX - PB4
Configuration Sub-directories
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nsh:
---
Configures the NuttShell (nsh) located at apps/examples/nsh. The
Configuration enables the serial interfaces on USART2.
foc_f32 and foc_b16:
---------------------
FOC examples based on hardware on board.
Pin configuration:
Board Function Chip Function Chip Pin Number
-------------- -------------- ---------------
Phase U high TIM1_CH1 PA8
Phase U low TIM1_CH1N PC13
Phase V high TIM1_CH2 PA9
Phase V low TIM1_CH2N PA12
Phase W high TIM1_CH3 PA10
Phase W low TIM1_CH3N PB15
Current U + OPAMP1_VINP PA1
Current U - OPAMP1_VINM PA3
Current V + OPAMP2_VINP PA7
Current V - OPAMP2_VINM PA5
Current W + OPAMP3_VINP PB0
Current W - OPAMP3_VINM PB2
Temperature PB14
VBUS ADC1_IN1 PA0
POT ADC1_IN11 PB12
LED GPIO_PC6 PC6
ENCO_A/HALL_H1 TIM4_CH1 PB6
ENCO_B/HALL_H2 TIM4_CH2 PB7
ENCO_Z/HALL_H3 TIM4_CH3 PB8
BUTTON GPIO_PC10 PC10
PWM PA15
CAN_RX FDCAN1_RX PA11
CAN_TX FDCAN1_TX PB9
CAN_TERM PC14
GPIO_BEMF PB5
BEMF1 ADC2_IN17 PA4
BEMF2 ADC2_IN5 PC4
BEMF3 ADC2_IN14 PB11
Current shunt resistance = 0.003
PGA gain = 16
Current sense gain = -9.14 (inverted current)
Vbus sense gain = 18k/(18k+169k) = 0.0962
Vbus min = ?
Vbus max = 25V
Iout max = 40A peak
BEMF sense gain = 2.2k/(10k+2.2k) = 0.18
IPHASE_RATIO = 1/(R_shunt*gain) = -36.47
VBUS_RATIO = 1/VBUS_gain = 10.4
