pypilot-STM32-motor-driver

Tinypilot motor driver ported to STM32 from original work with Arduino Nano This is based on the original work by: Sean D'Epagnier seandepagnier@gmail.com modified by: Timo Birnschein (timo.birnschein@googlemail.com)

The previous versions were for Arduino Nano boards.

This version has been rebuilt into an STM32CubeIDE project to run on an STM32F103C8 such as found on the popular "blue pill". All Nano specific code has been removed. The original communication with Pypilot from Sean has been retained. Timo followed on with work to use an off the shelf IBT-2 motor controller. This code has been simplified to ONLY apply to the IBT-2 type controller. I have also retained Timo's work on using exponential filters on analog inputs.

This is currently aimed at a boat with hydraulic steering so no clutch has been implemented. It would be easy to add.

The pinout for the STM32 is as follows:

Motor controller---STM32

    RPWM          PB3
    LPWM          PA15
    R_EN          PB12
    L_EN          PB13
    R_IS          See notes on current sensing
    L_IS          See notes on current sensing
    VCC           3.3
    Gnd           G

    RPi-----------STM32
    Tx            PA10
    Rx            PA9
    Gnd           G
    3.3V          3.3

Analog Sensors- All are 0.0-3.3V analog signals

    Voltage                  PA2
    Current                  PA1
    Rudder Position          PA0
    Motor Temperature        PA3
    Controller Temperature   PA4

In the current version The analog inputs are all read and filtered but only Rudder Position is used for control. Other inputs will be implemented later

Notes on current sensing: The IS pins on the IBT-2 boards are a current source based on a linear ratio to the load current. This current source needs to be converted to voltage by a resistor to ground. Furthermore each IS pin is only active for current in one direction. The IBT-2 board supplies a resistor to ground for each IS pin but it will not give a 0-3.3V signal. By wiring the two IS pins together and supplying an additional resister to ground the signal can be conditioned. The resistor to ground is dependant on the motor voltage being used and which driver chip is on the IBT-2. I have seen two different chips used. I will provide more on this when I implement it in this code.