带有STM32F303CB的FOC SDK 3.4启动失败

找到了有问题的错误。我选择了PB5作为电机2相3低侧pwm，但是库错误地设置了备用功能寄存器。 PB5上TIM8的备用功能是3。
 
 
GPIOB_AFRL设置为0x00244000，应为0x00344000。
 
问题在于STMCWB，而不是库。它在''控制阶段参数电机2'中生成以下错误行：
#define PHASE_WL_GPIO_AF2 GPIO_AF_2
 
现在的解决方法是将模板文件编辑为GPIO_AF_3



以下为原文





Found the bug that was at fault. I have selected PB5 as the motor 2 phase 3 low side pwm, but the library sets the alternate function register incorrectly. The alternate function for TIM8 on PB5 is 3.


GPIOB_AFRL is set to 0x00244000, it should be 0x00344000.

The problem is with STMCWB, not the library. It generates the following incorrect line in ''Control stage parameters motor 2'':
#define PHASE_WL_GPIO_AF2                GPIO_AF_2

Workaround for now is to edit the template file to GPIO_AF_3

现在我有它的工作，我有另一个问题。当我使用STM32F103时，我能够获得更高的pwm值，这对于我的小型电机来说效果很好。我发现32 - 36 kHz效果很好。
 
 
使用SMT32F303，我最多只能达到27500 Hz，之后我收到一个错误：
ERR 12:02:09 1 511最大结果调制指数被钳位到电机M1的最小允许值（81％）
ERR 12:02:09 2 511最大结果调制指数被钳位到电机M2的最小允许值（81％）
 
是否有任何其他参数可以改变以获得更高的PWM，或者这是否是使用板载电流感应放大器的限制？



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Now that I have it working, I have another question. When I used the STM32F103, I was able to go to much higher pwm values which worked well for my small motor. I found that 32 - 36 kHz worked well.


With SMT32F303 I can only go up to a maximum of 27500 Hz, after which I get an error:
ERR   12:02:09  1       511  Maximum resulting modulation index clamped to minimum allowed (81%) for motor M1
ERR   12:02:09  2       511  Maximum resulting modulation index clamped to minimum allowed (81%) for motor M2

Are there any other parameters I can change to get to a higher PWM, or is this a limitation of using the onboard current sensing amplifiers?

另一个问题：现在我有2台电机在运行，我无法弄清楚如何让它们同时运行。我可以启动电机1，但是一启动电机2它就会停止。我可以启动电机2但是一启动电机就会停止1.通过UART协议没有收到任何错误，只是成功确认了启动命令。
 
 
图书馆明确表示同时控制双电机。我在这里想念的是什么？请帮忙。



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Another question: now that I have 2 motors running I cannot figure out how to get them to run simultaneously. I can start motor 1, but it stops as soon as I start motor 2. I can start motor 2 but it stops as soon as I start motor 1. No errors are received over the UART protocol, just a successful acknowledge of the start command.


The library clearly says simultaneous control of dual motors. What am I missing here? Please help.

Ciao Joevn，
 
 谢谢你的宝贵意见。
 正如您可能已经了解的那样，只有两个嵌入式OPAMP足以用于三个分流电流检测，因为三个输入在内部多路复用。
 我向你报告了下一个版本的WB设计师的问题。你提出的解决方法是好的。
 最大调制指数（MMI）由WB根据PWM频率，死区时间，Tnoise / TRise和选择的当前采样时间计算。用于避免6-PWM开关引起的噪声。 WB / Lib支持的最小MMI存在限制。这是81％，这不依赖于所使用的微控制器，而是取决于算法。您可以尝试减少上述参数，以便使用更高的PWM频率。
 您提到的双驱动器的行为不是预期的行为。双驱动意味着双同时。可能您遇到了与高FOC速率相关的一些问题，在这种情况下，您可以尝试将执行速率提高到2或3个PWM周期。或者它只是与串行通信相关的问题，请在WB的监视器页面中验证“所有电机”复选框是否已选中。
 
 再见
 梁咏琪



以下为原文





Ciao Joevn,

thank for you valuable feedback.
As you probably already understand just two embeded OPAMP are sufficient for the three shunt current sensing because the three inputs are multiplexed inside.
I reported the issue you submited to the WB designer for the next version. The workaround you popose is ok.
The maximum modulation index (MMI) is calculated by WB according PWM freq, Dead time, Tnoise/TRise and selected current sampling time. Is used to avoid the noise caused by the 6-PWM switching. There is a limitation in the minimum MMI supported by WB/Lib. that is 81% and this don't depend on the microcontroller used but by the algorithm. You can try to reduce the mentioned paramenters in order to use higher PWM frequencies.
The behaviour you mention for the dual drive is not the one expected. Dual drive means dual simultaneous. Probably you are facing with some issue related to an high FOC rate, in this case you can try to increase the execution rate to 2 or 3 PWM period. Or it is just an issue related to the serial communication, please verify that the ''All motor'' check box is chceckd in the monitor page of WB.

Ciao
Gigi

谢谢你，将执行率改为2个pwm周期就可以了。现在两个电机同时旋转。



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Thank you, changing the execution rate to 2 pwm periods did the trick. Now both motors spin simultaneously.