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SimpleFOC guide

Tested with Simple FOC@^2.3.2 release

Main firmware that runs on Spectral micro is Spectral firmware.

SimpleFOC is alternative to Spectral Firmware.
The library is intended both for:

  • Beginners searching for a simple and user-friendly way to learn how to control BLDC and Stepper motors
  • Advanced users ready to dig deeper into the FOC algorithm and optimize the code for their particular application/hardware.

More info about simple FOC:

SimpleFOC forum and discord is best place to look for help when developing with SimpleFOC library

How to install

Follow this guide

This replaces the bootloader

This project has no upload offset, so an upload with the programming adapter writes SimpleFOC at 0x08000000, over the bootloader. Firmware updates over UART or CAN stop working. To go back to the Spectral firmware, install the bootloader again as in Installing the bootloader on an older board, then flash a release.

Your platformio.ini should look like this:

platformio.ini
[env:genericSTM32F103CB]
platform = ststm32
board = genericSTM32F103CB
framework = arduino
upload_protocol = stlink
build_flags = 
debug_tool = stlink
monitor_speed = 115200
lib_deps = 
    askuric/Simple FOC@^2.3.2
lib_archive = false

SimpleFOC guides

If you want to develop more advanced applications with SimpleFOC you can follow these tutorials:

Basic example

This example will spin the motor in open loop and enable serial monitor.
Use this code as a base for more advanced code you will develop with SimpleFOC.
The Spectral-Micro-Simple-FOC repository has this project and more examples in its examples folder, among them voltage-torque FOC with the encoder.

main.cpp
#include "Arduino.h"
#include "SimpleFOC.h"

// Driver PWM pins
#define PWM_CH1 PA_2
#define PWM_CH2 PA_1 
#define PWM_CH3 PA_0 

// Encoder pins
#define MOSI PB_5
#define MISO PB_4
#define CLK PB_3
#define CSN PA_15

#define SENSE1 PA_4 // Inline current sense
#define SENSE2  PA_3 // Inline current sense

#define TX_COM PB_6
#define RX_COM PB_7

// Current sense resistors
#define SENSE_RESISTOR 0.025f
#define CURRENT_AMP_GAIN 20

// Serial pins
#define Serial Serialx
HardwareSerial Serialx(RX_COM, TX_COM); // PA3, PA2 RX,TX

// BLDC motor & driver instance
// BLDCMotor motor = BLDCMotor(pole pair number, phase resistance (optional) );
BLDCMotor motor = BLDCMotor(11);
//  BLDCDriver3PWM( pin_pwmA, pin_pwmB, pin_pwmC )
BLDCDriver3PWM driver = BLDCDriver3PWM(PWM_CH1, PWM_CH2, PWM_CH3);

//target variable
float target_velocity = 0.1;

void Init_pins();

void setup() {  

  // Init driver enable pins and LED
  Init_pins();

  // pwm frequency to be used [Hz]
  driver.pwm_frequency = 20000;
  // power supply voltage [V]
  driver.voltage_power_supply = 24;
  // Max DC voltage allowed - default voltage_power_supply
  driver.voltage_limit = 5;
  // driver init
  driver.init();
    // link the motor and the driver
  motor.linkDriver(&driver);
  motor.controller = MotionControlType::velocity_openloop;

  // init motor hardware
  motor.init();
    // use monitoring with the BLDCMotor
  Serial.begin(115200);
  Serial.println("Motor ready!");
  _delay(1000);
  // monitoring port
  motor.useMonitoring(Serial);

}

void loop() {
  // open loop velocity movement
  // using motor.voltage_limit and motor.velocity_limit
  motor.move(target_velocity);
  // monitoring function outputting motor variables to the serial terminal 
  motor.monitor();

}

void Init_pins(){
  pinMode(PA_9, OUTPUT);
    pinMode(PA_8, OUTPUT);
    pinMode(PA_10, OUTPUT);
    pinMode(PB_15, OUTPUT);
    pinMode(PB_14, OUTPUT);
    pinMode(PB_13, OUTPUT);

  digitalWrite(PA_9,HIGH);
  digitalWrite(PA_8,HIGH);
  digitalWrite(PA_10,HIGH);
  digitalWrite(PB_14, HIGH);
  digitalWrite(PB_15, HIGH);
  digitalWrite(PB_13, HIGH);
}

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