Release Notes for X-Cube-MCSDK 6.1.2

Copyright © 2023 STMicroelectronics

The STM32Cube is a STMicroelectronics original initiative to ease developers’ life by reducing development efforts, time and cost.

The STM32Cube covers STM32 portfolio.

The STM32 microcontroller offers the performance of the industry-standard Cortex®-M core running either Six-Step or Field Oriented Control (FOC) modes, widely used in high-performance motor drive for Air Conditioning, Home Appliances, Drones, Building & Industrial Automation, Medical and E-bike applications.

The STM32 Motor Control (MC) Software Development Kit (SDK) includes:

• ST Motor Control Firmware library;
• ST Motor Control Workbench and ST Motor Pilot with embedded ST Motor Profiler software tools

The ST MC FW library provides implementations of the Field Oriented Control FOC and of the Six-Step motor control techniques. This allows it for driving Permanent Magnet Synchronous motors (PMSM) and Brushless DC motors (BLDC). FOC is more suited for PMSM while the Six-Step technique is more meant for BLDC motors. The Firmware can drive both Internal Mounted PMSM and Surface Mounted PMSM.

The ST Motor Control Firmware library provides the following features:

Field Oriented Control

• SVPWM generation:

  • Configurable PWM frequency
  • Centered PWM pattern type

• Speed or Torque Control Mode: Motors can be controlled in speed or in torque mode. Switching between modes is possible at any time (even when the motor is spinning)

• Position Control Mode. Position Control is possible for motor control applications using encoders for speed and position measurement (Project Build time feature. No switch to/from Torque or Speed Control modes is possible at run time when Position control mode is enabled)

• Programmable Speed and Torque ramps

• Open or Closed Loop operation:

  • Closed loop is default

  • Two Open loops modes:

    • Open Loop Current: No control over rotor speed and position (rotation speed is arbitrary), current is regulated
    • Open Loop Voltage: No control over rotor speed and position (rotation speed is arbitrary), No current regulation (voltage reference is set)

  • Switching between open and closed loop is possible at run time

• Phases Current Sensing:

  • Isolated Current Sensors (Hall effect sensors)
  • Single Shunt current sensing - common DC-link shunt resistor
  • Three Shunt resistors current sensing - three resistors placed at the bottom of each of the three inverter legs

• Rotor Speed and Position feedback:

  • Sensor less Back EMF State Observer coupled with a PLL for rotor speed and angle estimation
  • Sensor less Back-EMF State Observer coupled with a CORDIC for rotor speed and angle estimation
  • 60° or 120° displaced Hall sensors decoding (measurement)
  • Quadrature Encoder decoding (measurement)
  • Two of these above methods can be used simultaneously on any of the motors: Main and Auxiliary one. The Main is used in the control loop, while the other is Auxiliary.

• Highly configurable rev-up control sequence for sensor-less configurations

• On-the-Fly startup feature: The sensor less algorithm is able to detect if the motor is already spinning before startup, thus skipping the acceleration phase if needed (useful for an application)

• Motor Brake strategies:

  • Dissipative DC link brake resistor handling
  • Motor phases short-circuiting (with optional hardware over-current protection disabling)
  • Motor phases free-wheeling

• Flux Weakening algorithm to reach higher than rated motor speed (optional)

• Feed Forward high performance current regulation algorithm (optional)

• Maximum Torque Per Ampere (I-PMSM only, optional)

• Discontinuous PWM (optional)

• Overmodulation on Phase Voltage Generation (optional)

• Real time tuning of:

  • PI/PID regulators parameters
  • Sensor less algorithms (Observers, Rev-up procedure)
  • Optional algorithms (Feed Forward, Flux Weakening, MTPA…)
  • Sensor less startup procedure

Six-Step

• Duty Cycle generation:

  • Configurable PWM frequency
  • Edge PWM pattern type
  • Fast demagnetization driving mode
  • Quasi synchronous rectification driving mode

• Programmable Speed ramps

• Closed Loop operation with real time tuning of PI regulators parameters

• Rotor Speed and Position feedback:

  • Sensor-less with back-EMF measurement and zero crossing detection
  • Sensored with Hall sensors

• Startup Control for sensor-less configurations

• Back-EMF detection capability during PWM On time

• Two speed control modes:

  • Voltage mode (direct change of PWM duty cycle)
  • Current mode (output current clamping)

   

Usage of embedded analog peripherals for STM32 devices for which those peripherals are available

• Support for Programmable Gain Amplifiers (PGA) usage for current sensing:

  • three-shunts and single shunt topologies
  • internal or external gain

• Support for comparators usage in Over-Current Protection (OCP) mode:

  • three-shunts and single shunt topologies
  • internal or external threshold

Usage of specific hardware accelerations for STM32 devices for which those hardware IPs are available

• ADC queue of context (ST patented architecture)
• CCM (core coupled memory) RAM
• Advanced Timer structures for single shunt topology (ST patented)
• Adaptive real-time accelerator (ART Accelerator)
• CORDIC (Coordinate rotation digital computer algorithm) HW accelerator (available on STM32G4xxx device family only)

Fault Management

• Over-Current
• Over-Voltage
• Under-Voltage
• Over-Heating
• Speed feedback reliability error (FOC only)
• Algorithm execution overrun

Miscellaneous features

• Temperature Sensing
• VBus Sensing
• Debug and Introspection features

ST Motor Pilot software tool

• The ST Motor Pilot is a control and monitoring PC tool. It is built on a brand new communication protocol that allows for faster and more reliable communication while consuming less MIPS from the MCU. With this protocol, internal Motor Control signals can be monitored in real time with no or controlled subsampling.

  Main features :

  • Control and reporting of motor control firmware parameters
  • Customizable UI
  • Real time data plotting (oscilloscope like feature)

  It embeds also another tool, the Motor Profiler software feature that provides the following features:

  • Measurement of electromechanical parameters of PMSM motors
  • Embedded One Touch Tuning algorithm: algorithm that uses a single parameter to set up the speed controller according to the type of load Together with the ST Motor Profiler software tool, it can be enabled to achieve the setup and run unknown motor from scratch
  • Measured motor parameters can be configured in the MC application, thanks to ST Motor Control Workbench.
  • Pole pairs detection

ST Motor Control Workbench software tool

• Graphical User Interface (GUI) to configure a Motor Control application:

  • Features & Algorithms are configured graphically
  • Boards are configured from provided ST database: Control board, Power Board, motor parameters
  • Custom power board and motor can be specified
  • Generates *.IOC files to interface STM32CubeMX tool
  • Wizard like interface that guides users through configuration steps
  • Comprehensive checks to prevent from producing non-functional configurations

• Easy parameters tuning:

  • Firmware Library
  • MCU board
  • Power board
  • Motor

STM32CubeMx

STM32CubeMx is a PC software tool provided by ST to configure STM32 based applications. It is not part of the STM32 MC SDK delivery, but can be downloaded freely at http://www.st.com.

It is used to generate IAR Embedded Workbench for ARM(IAR Systems AB) or μVision® IDE for Arm® (Keil® MDK) and STM32CubeIDE ready to use projects from .ioc files that the ST MC Workbench produces.

In the ST MC context, the STM32CubeMX might be used to customize pins implementation of the MC application as well as to configure other peripherals that are not MC specific but nonetheless needed for the MC application (e.g.GPIO pins).

Supported devices and boards

• Supported Devices:

  • STM32G0xx Family: STM32G071RB/STM32G081RB
  • STM32G4xx Family: STM32G431CB/ STM32G431RB/ STM32G431VB / STM32G474QE /STM32G474RE
  • STM32F0xx Family: STM32F030RC / STM32F030R8 / STM32F031C6 / STM32F051R8 / STM32F072VB / STM32F072RB
  • STM32F3xx Family: STM32F302VB / STM32F302VC / STM32F302R8 / STM32F303CB /STM32F303CC /STM32F303VB /STM32F303RB / STM32F303VC / STM32F303ZE / STM32F303VE / STM32F303RE
  • STM32F4xx Family: STM32F417IG / STM32F415ZG / STM32F407IG/ STM32F417IG / STM32F446ZE / STM32F446RE / STM32F401RE/ STM32F401VE
  • STM32F7xx Family: STM32F746ZG / STM32F769NI
  • STM32H7xx Family: STM32H7745ZI
  • STM32L4xx Family: STM32L452REIx, STM32L452RETx, STM32L452REYx,STM32L452VEIx,STM32L452VETx,STM32L476RGTx, STM32L476ZGJx, STM32L476ZGTx
  • STSPIN32xx Family: STSPIN32F0 / STSPIN32F0A /STSPIN32F0B/ STSPIN32F0251/ STSPIN32F0252/ STSPIN32F0601/ STSPIN32F0602/ STSPIN32G4

• Control Boards

  • STM32F0xx Family:

    • NUCLEO-F030R8
    • NUCLEO-F072RB

  • STM32F3xx Family:

    • NUCLEO-F302R8
    • NUCLEO-F303RE/NUCLEO-F303RB
    • STM32303E-EVAL

  • STM32F4xx Family:

    • NUCLEO-F446RE
    • NUCLEO-F401RE

  • STM32F7xx Family:

    • NUCLEO-F746ZG

  • STM32H7xx Family:

    • NUCLEO-H745ZI

  • STM32G0xx Family:

    • NUCLEO-G071RB
    • STM32G081B-EVAL

  • STM32G4xx Family:

    • NUCLEO-G431RB
    • NUCLEO-G474RE
    • STM32G474E-EVAL

  • STM32L4xx Family:

    • NUCLEO-L452RE
    • NUCLEO-L476RG

• Power Boards:

  • STEVAL-IPM05F
  • STEVAL-IPM07F
  • STEVAL-IPM08B
  • STEVAL-IPM10B
  • STEVAL-IPM10F
  • STEVAL-IPM15B
  • STEVAL-IPM20B
  • STEVAL-IPM30B
  • STEVAL-IPMM10B
  • STEVAL-IPMM15B
  • STEVAL-IPMM10B
  • STEVAL-IPMM15B
  • STEVAL-IPMM10B
  • STEVAL-IPMM15B
  • STEVAL-IPMNG3Q
  • STEVAL-IPMNG3S
  • STEVAL-IPMNG5Q
  • STEVAL-IPMNG8Q
  • STEVAL-IPMNM1N
  • STEVAL-IPMNM1S
  • STEVAL-IPMNM2N
  • STEVAL-IPMNM2S
  • STEVAL-IPMNM3Q
  • STEVAL-IPMNM5Q
  • X-NUCLEO-IHM07M1
  • X-NUCLEO-IHM08M1
  • X-NUCLEO-IHM11M1
  • X-NUCLEO-IHM16M1
  • X-NUCLEO-IHM17M1
  • STEVAL-IHM023V3
  • EVALSTDRIVE101
  • EVALSTDRIVE601

• Adapter Bridges

  • X-NUCLEO-IHM09M2

• Inverter Boards

  • B-G431B-ESC1
  • EVSPIN32F0251S1
  • EVSPIN32F02Q1S1
  • EVSPIN32F06Q1S1
  • EVSPIN32F06Q1S3
  • EVSPIN32F06Q2S1
  • EVSPIN32F0601S1
  • EVSPIN32F0601S3
  • EVSPIN32F0602S1
  • EVSPIN32G4
  • STEVAL-SPIN3201
  • STEVAL-SPIN3202
  • STEVAL-SPIN3204

• Kit

  • P-NUCLEO-IHM002
  • P-NUCLEO-IHM03

Known Limitations

• Dual drive is no more supported at the moment. Support for this feature will be reintroduced in a future release of the SDK

• The STEVAL-IPMNG3Q power board generates glitches on its Fault signal that result in false Over Current errors on the Motor Control subsystem. These errors can occur even before the motor is started. This issue can be addressed with the filter that most STM32 provide on the Timer BREAK2 input. However STM32F0 (and STM32F1) MCUs do not feature such a filter and one needs to be implemented on the user's board.

• With STM32CubeMx 6.4.0:

  • Peripheral initialization code generation for STM32G0xx series with LL drivers has a limitation that causes variations of the rotation speed and sometimes “startup failure” errors. A SW workaround is available. It consists in calling function LL_RCC_SetTIMClockSource(LL_RCC_TIM1_CLKSOURCE_PLL) just after the call to MX_TIM1_Init() in the main()function in file main.c.

• The support of H7 series is not functional with the use of STM32CubeMx 6.7.0 Furthermore, with STM32CubeMx 6.8.0, the clock has been reduced to 400MHz to fit with SMPS voltage supply (which is the HW default setting on the NUCLEO-H745ZI)

• The debug DAC feature is not yet supported with 6Step algorithm

• For the motor profiler, those boards are not yet supported :

  • Control boards :

    • STM32G081B-EVAL

  • Power boards :

    • EVALSTDRIVE101

• The Over current detection configuration for EVALSTDRIVE101 through the Timer Break-in handling is not performed to avoid that a false error reported when the device exits the standby condition. Nevertheless, the EVALSTDRIVE101 HW is internally protected in case an over-current event occurs, even if this is not reported to the FW.
• The open loop feature is restricted to the Sensor-less configuration.

Update History

V6.1.2 / 15-May-2023

Main Changes

This version of the new Motor Control SDK 6 series (X-CUBE-MCDSK) is a bug fix release.

Changes introduced in the ST Motor Control Firmware

• New APIs for changing Overvoltage and Under voltage threshold
• Fix P-NUCLEO-IHM002 Motor Profiler issue

Changes introduced in the ST Motor Control Workbench

• Fix X-NUCLEO-IHM17M1 description board json file to fix the feature Driver Protection
• Add support of X-NUCLEO-IHM09M2 instead of X-NUCLEO-IHM09M1

Changes introduced in the ST Motor Pilot

• Fix Profiler issue with "Check ST-Link Connection" never connects
• Profiler UI must configure Voltage thresholds before profiling

STM32Cube Environment

• STM32CubeMX v6.8.0
• STM32Cube_FW_F0_V1.11.4
• STM32Cube_FW_F3_V1.11.4
• STM32Cube_FW_F4_V1.27.1
• STM32Cube_FW_F7_V1.17.0
• STM32Cube_FW_H7_V1.11.0
• STM32Cube_FW_L4_V1.17.2
• STM32Cube_FW_G0_V1.6.1
• STM32Cube_FW_G4_V1.5.1

Development Toolchains

• IAR Embedded Workbench for ARM (IAR Systems AB) v9.30.1
• μVision® IDE for Arm® (Keil® MDK) v5.24.2
• STM32CubeIDE v1.10.1
• STM32CubeProgrammer 2.11.0

V6.1.1 / 14-Feb-2023

Main Changes

This version of the new Motor Control SDK 6 series (X-CUBE-MCDSK) is a bug fix release.

Changes introduced in the ST Motor Control Firmware

• Fixed issue on OPEN_LOOP mode
• Fixed ADC Potentiometer configuration issue within 6Step algorithm and HALL sensor use

Changes introduced in the ST Motor Control Workbench

• Fixed issue relative to potential erroneous B-G431B-ESC project generation.
• Fixed PWM polarity issue with STSPIN32F0601/602 inverters.
• Added new power board descriptions STEVAL-IPMMxx
• Configure clock to 400Mhz to fit with SMPS voltage for H745ZI serie.
• Add EVALSTDRIVE601 power board

Changes introduced in the ST Motor Pilot

• Profiler binary Overvoltage value aligned with board specification

• Add Y cursor

• Added new board support for Motor profiler feature:

  • Control boards :

    • STM32G474E

STM32Cube Environment

• STM32CubeMX v6.8.0
• STM32Cube_FW_F0_V1.11.4
• STM32Cube_FW_F3_V1.11.4
• STM32Cube_FW_F4_V1.27.1
• STM32Cube_FW_F7_V1.17.0
• STM32Cube_FW_H7_V1.11.0
• STM32Cube_FW_L4_V1.17.2
• STM32Cube_FW_G0_V1.6.1
• STM32Cube_FW_G4_V1.5.1

Development Toolchains

• IAR Embedded Workbench for ARM (IAR Systems AB) v8.50.2
• μVision® IDE for Arm® (Keil® MDK) v5.24.2
• STM32CubeIDE v1.10.1
• STM32CubeProgrammer 2.11.0

V6.1.0 / 19-Dec-2022

Main Changes

This version of the new Motor Control SDK 6 series (X-CUBE-MCDSK) reintroduces the support for the F0, F3, F4, F7, H7 and L4 series for FOC and adds Six Step support to F0 and G0 series.

A new tool called Board Manager is provided to add ability to configure easily a Board description that can be then imported by the Workbench.

The ST Motor Profiler tool is removed from the X-CUBE-MCSDK. The motor profiling feature is now provided by the ST Motor Pilot.

In this release, all previous user manuals except ( Getting Started with ST Motor Control SDK, Motor Control Workbench User Manual and for Motor Pilot Startup Guide) are now reachable through the document index.html provided within the MCSDK.

Changes introduced in the ST Motor Control Firmware

• Reintroduced support for Over Current Protection based on internal comparators. This allows for activating the OCP on the ESC-G4 board for instance.
• Introduced the Quasi Synchronous Six-Step feature.
• Introduced the Fast Demagnetization Six-Step feature.
• The Resistive Brake feature is enhanced with the addition of a hysteresis on the trigger threshold.
• The Temperature measurement feature using a NTC thermistor is enhanced and now allows for NTC configured in pull down. The main consequence is that negative $dV/dT$ gains can now be set in the firmware.
• Added preprocessor symbols to configure the duration of the Bootstrap Capacitor Charge procedure and the PWM duty cycle to apply for it. These symbols are set by the workbench at project generation time.
• Removed the Fast Div feature.
• Fixed an issue that prevented from selecting Hall effect sensors for speed and position feedback unless they were used as auxiliary sensor. Selecting Hall sensors as main speed and position feedback sensors resulted in a project that failed to build. This is now fixed.
• Fixed an issue on STM32G0 where the regular conversion manager would stop to work after a Motor Control Fault has occurred (e.g. Speed Feedback error,...). The regular conversion manager is used to measure the Bus voltage and the temperature for instance.
• Fixed an issue where some six step projects on STM32G4 MCUs may produce Hard Faults at run time.
• Fixed an issue with Discontinuous PWM where when single-shunt topology was selected, duty cycles would not be handled correctly. This is now fixed.
• Fixed an issue that prevented the Motor Control Protocol from using USART1 and USART3 on STM32F0 MCUs.
• Added support of ESC PWM feature
• Added ACIM feature. The ability to control ACIM (AC Induction) Motor has been added to this release as demonstration examples. The firmware example projects for ACIM shows how the STM32 MC SDK can be used to drive an asynchronous induction motor (ACIM) in field-oriented control (FOC) using a sensorless state observer algorithm to estimate the electrical and mechanical speed and position of the rotor and the rotor flux, or in V/F open-loop sensorless mode.
• Introduction of a FW potentiometer component (ability to check speed ramp using a potentiometer on P-NUCLEO-IHM03)
• Introduction of an Electronic speed control example project on B-G431B-ESC1
• Introduction of a Position control example project on NUCLEO-G431.
• Introduction of a STSPin32G4 FOC example project
• Introduction of an H745 example project
• Introduction of a STEVAL-SPIN3202 1-shunt FOC example project.

Changes introduced in the ST Motor Control Workbench

• Added support of F3, F4, F7, H7 and L4 series
• Added support of STM32303E-EVAL control board
• Added support for potentiometer configuration
• Added KIT P-NUCLEO-IHM001-002
• Added support of IPM10B/IMP10F/STEVAL-IPM07F/STEVAL-IPM15B/STEVAL-IPM20B/STEVAL-IPM30B/STEVAL-IPMM10B/STEVAL-IPMM15B
• Users custom boards and motors can now be imported in the Workbench. They can also be deleted from the workbench after import.
• A motor selected in a project can be edited (modified) and the modifications can be saved with a new name. This creates new motor entries in the workbench that can be used in new projects.
• Added a graphic interface for configuring the Fast Demagnetization and the Quasi Synchronous Six-Step features.
• The Workbench now immediately checks the impact of parameters changed by users in order to point where changes are consequently needed to other parameters. The check was already performed before; it is now done a lot earlier allowing for faster and easier try-adjust cycles.
• Added a graphic interface to configure the Open Loop FOC feature.
• Added support for using an RTOS in the generated software project.
• Added support for configuring the hysteresis of the Over Voltage Protection feature.
• Motor Profiler can be launched from the WorkBench
• Added support of STSPIN32F0/G4
• Added support for the ESC PWM protocol.
• Added Debug DAC feature in Debug settings Panel
• Added support of index signal coming from Encoder (indicating an absolute reference position).
• Added ACIM ioc load feature. The WB supports ACIM project generation by loading an ACIM example file *.ioc easily configurable by user thanks to a new dedicated WB interface.

Changes introduced in the ST Motor Pilot

A new application UI is delivered with the Motor Pilot that allows for profiling a unknown motor. This UI is very similar to the one provided with the retired ST Motor Profiler tool. In addition to it, the application adds the capability to detect the configuration of Hall sensors if the motor under profiling has them and it can also automatically detect the configuration of the hardware it is connected to.

The Motor Profiler is now embedded to the ST Motor Pilot to form a unique tool.

In addition, the Motor Pilot delivered with this version of the SDK introduces the following changes:

• Features added to the Motor Pilot

  • Integrates the Motor Profiler tool

  • Added feature to read/write/execute file from qml : user can now access to any data on his computer from qml file of the Pilot

  • New plot snapshot feature : like oscilloscope instrument with ability to make a snapshot of a plot and then compare it to another plot

  • A new plot sum function : like oscilloscope instrument with ability to sum up to 3 plots

  • Added trigger function to high frequency plot

  • Change Rs estimation display background if value is too much different from Rs Rated

  • Hall sensors configuration detection for motor profiling

  • Added new board support for Motor profiler feature:

    • Control boards :

      • B-G431B-ESC1
      • NUCLEO-F302R8
      • NUCLEO-F303RE
      • NUCLEO-F401RE
      • NUCLEO-F446RE
      • NUCLEO-F746ZG
      • NUCLEO-G431RB
      • NUCLEO-L452RE
      • NUCLEO-L476RG
      • STM32303E-EVAL

    • Power boards :

      • X-NUCLEO-IHM07M1
      • X-NUCLEO-IHM08M1
      • X-NUCLEO-IHM16M1
      • STEVAL-IPM05F
      • STEVAL-IPM10B

STM32Cube Environment

• STM32CubeMX v6.7.0
• STM32Cube_FW_F0_V1.11.3
• STM32Cube_FW_F3_V1.11.3
• STM32Cube_FW_F4_V1.27.1
• STM32Cube_FW_F7_V1.17.0
• STM32Cube_FW_H7_V1.11.0
• STM32Cube_FW_L4_V1.17.2
• STM32Cube_FW_G0_V1.6.1
• STM32Cube_FW_G4_V1.5.1

Development Toolchains

• IAR Embedded Workbench for ARM (IAR Systems AB) v8.50.2
• μVision® IDE for Arm® (Keil® MDK) v5.24.2
• STM32CubeIDE v1.10.1
• STM32CubeProgrammer 2.11.0

V6.0.0 / 30-Mar-2022

Main Changes

This is the first version of the new Motor Control SDK 6 series (X-CUBE-MCDSK). As the first release of a new major version, MCSDK 6.0.0 marks a major milestone for ST Motor Control SDK.

The most visible change introduced by ST MCSDK 6.0.0 is a brand new Workbench tool, featuring a modern UI with a fully reworked use flow. With this new UI, the user is fully guided through all the steps needed to configure a Motor Control application. Each feature is completely configured in one place, from the pure algorithmic parameters to the pinning of STM32 peripherals. There is no need to go through several distant and hidden panels to set all the details of a feature anymore.

In addition to easing the user experience, this new workbench is designed to support more products, new algorithms, new features, new motor types that will be added in the future. An example of new feature is the the Six Step drive implementation that was only provided as a set of examples in the ST MCSDK 5.x series. Thanks to the new Workbench 6, it is now available as a first class citizen in the SDK. Another example is the introduction of a new, flexible, board description format. Thanks to this new format, users will be able to design their own, custom boards and have them properly handled by the workbench. This will be made available in several steps: First, the format is being documented on ST's wiki. But the ultimate goal is to integrate, in a future release, a board designer UI in the Workbench that will allow users to design their own hardware motor control boards.

This new Workbench is only one of the changes that ST Motor Control SDK 6 series is introducing. ST Motor Pilot, the new control and monitoring PC tool that replaces the Monitor of the Workbench 5, already published with ST MCSDK 5.Y.0 is another. Others will come in the coming releases of the Motor Control SDK 6 series.

ATTENTION:

The file format used by MCSDK 6 to store projects designed with the workbench (with the *.stwb6 extension) is new and there is no tool for converting from the legacy stmcx format to the stwb6 one.

Changes introduced in the ST Motor Control Firmware

• Added full support for the Six Step control technique. It is now configurable from the workbench.

• Added the possibility to switch between open and close loop at run time for FOC configurations

• Fixed alignment issue seen with MDK-ARM Keil version 6 that would result in the embedded application crashing with a hard fault.

• Fixed an issue where the firmware application would go to Speed mode even if Torque mode was selected as the default mode at startup through Workbench.

• Added the possibility to configure the CPU Load Measurement and the Open loop features from CubeMx. As of now, these two feature cannot be enabled from the Workbench.

• The Power measurement API now returns a floating point value

• Fixed an issue with a wrong $I_d$ reference being set after the alignment procedure in position control mode

   

Changes introduced in the ST Motor Pilot

A commented selection of these changes needs to be listed here:

• Motor power reported in floating point instead of U16
• Renamed register FLAGS into FAULT_FLAGS
• Added support for switching from open loop to closed loop at run time
• Disabled the polling of registers related to non available features
• The name of the boards used in the embedded application is now displayed
• Improved support of Six-Step
• Improved Torque reference reporting in the Advanced Configuration panel
• Fixed an issue with the usage of the slider used to set the speed reference.
• Nominal current is now reported into S16 instead of U16.

License

This software package is licensed by ST under ST license SLA0048, the "License"; You may not use this package except in compliance with the License. You may obtain a copy of the License at: