ST公司的STM32F303x6/8系列是基于ARM®Cortex®-M4 RISC核的32位MCU,工作频率高达72MHz,嵌入了浮点单元(FPU),高速嵌入存储器包括高达64KB闪存,12KB SRAM以及各种增强I/O和连接两个APB总线的外设. 此外还集成了2个ADC,3个DAC,3个比较器和一个运放.主要用在BLDC/PMSM马达控制,无人机,遥控汽车和船舶等.本文介绍了TM32F303系统主要特性,功能框图和时钟树,以及评估板STEVAL-ESC001V1主要特性,系统架构图,电路图和电路图.

The STM32F303x6/8 family incorporates the high-performance ARM® Cortex®-M4 32-bit RISC core operating at up to 72 MHz frequency embedding a floating point unit (FPU), high-speed embedded memories (up to 64 Kbytes of Flash memory, 12 Kbytes of SRAM), and an extensive range of enhanced I/Os and peripherals connected to two APB buses.

The STM32F303x6/8 microcontrollers offer up to two fast 12-bit ADCs (5 Msps), up to three ultra-fast comparators, an operational amplifier, three DAC channels, a low-power RTC, one general-purpose, 32-bit timer, one timer dedicated to motor control, and four general-purpose, 16-bit timers. They also feature standard and advanced communication interfaces: one I2C, one SPI, up to three USARTs and one CAN.

The STM32F303x6/8 family operates in the –40 to +85 ℃ and –40 to +105 ℃ temperature ranges from a 2.0 to 3.6 V power supply. A comprehensive set of power-saving modes allows the design of low-power applications.

The STM32F303x6/8 family offers devices in 32, and 64-pin packages.

TM32F303系统主要特性:

• Core: ARM® Cortex®-M4 32-bit CPU with FPU (72 MHz max), single-cycle multiplication and HW division, 90 DMIPS (from CCM), DSP instruction

• Memories

– Up to 64 Kbytes of Flash memory

– 12 Kbytes of SRAM with HW parity check

– Routine booster: 4 Kbytes of SRAM on instruction and data bus with HW parity check (CCM)

• CRC calculation unit

• Reset and supply management

– Low-power modes: Sleep, Stop, Standby

– VDD,VDDA voltage range: 2.0 to 3.6 V

– Power-on/Power-down reset (POR/PDR)

– Programmable voltage detector (PVD)

– VBAT supply for RTC and backup registers

• Clock management

– 4 to 32 MHz crystal oscillator

– 32 kHz oscillator for RTC with calibration

– Internal 8 MHz RC (up to 64 MHz with PLL option)

– Internal 40 kHz oscillator

• Up to 51 fast I/O ports, all mappable on external interrupt vectors, several 5 V-tolerant

• Interconnect Matrix

• 7-channel DMA controller

• Up to two ADC 0.20 μs (up to 21 channels) with selectable resolution of 12/10/8/6 bits, 0 to 3.6 V conversion range, single-ended/differential mode, separate analog supply from 2.0 to 3.6 V

• Temperature sensor

• Up to three 12-bit DAC channels with analog supply from 2.4 V to 3.6 V

• Three ultra-fast rail-to-rail analog comparators with analog supply from 2 V to 3.6 V

• One operational amplifiers that can be used in PGA mode, all terminals accessible with analog supply from 2.4 to 3.6 V

• Up to 18 capacitive sensing channels supporting touchkeys, linear and rotary touch sensors

• Up to 11 timers

– One 32-bit timer and one 16-bit timer with up to 4 IC/OC/PWM or pulse counter and quadrature (incremental) encoder input

– One 16-bit 6-channel advanced-control timer, with up to 6 PWM channels, deadtime generation and emergency stop

– One 16-bit timer with 2 IC/OCs, 1 OCN/PWM, deadtime generation, emergency stop

– Two 16-bit timers with IC/OC/OCN/PWM, deadtime generation and emergency stop

– Two watchdog timers (independent, window)

– SysTick timer: 24-bit downcounter

– Up to two 16-bit basic timers to drive DAC

• Calendar RTC with alarm, periodic wakeup from Stop

• Communication interfaces

– CAN interface (2.0 B Active) and one SPI

– One I2C with 20 mA current sink to support Fast mode plus, SMBus/PMBus

– Up to 3 USARTs, one with ISO/IEC 7816 interface, LIN, IrDA, modem control

• Debug mode: serial wire debug (SWD), JTAG

图1.TM32F303x6/8框图

图2.TM32F303x6/8时钟树

评估板STEVAL-ESC001V1

The STEVAL-ESC001V1 evaluation board is based on the STM32F303 microcontroller, L6398 driver and STL160NS3LLH7 power MOSFETs. It is an electronic speed controller (ESC) designed to drive a single three phase brushless motor (BLDC/PMSM), performing a sensorless FOC algorithm with speed regulation and active braking function. This unit can accept commands from an external unit for driving and monitoring a flight control board, for instance. For this purpose, several communication bus interfaces (UART, CAN, I²C) are available.

The board includes a BEC 5 V circuit and embeds an overcurrent/overvoltage and thermal protection circuit. Its form factor renders it suitable for small and light R/C vehicles and its motor current capability meets the power requirements of larger vehicles like professional drones.

The STEVAL-ESC001V1 electronic speed controller (ESC) evaluation board drives a single three phase brushless motor with very high performance in sensorless mode (without position sensor).

It is designed to provide fast and efficient propulsion for remote control applications like electric cars, boats and drones and is capable of low and very high speed regulation and strong dynamic response under different load conditions.

An external signal via a communication bus between the board and a generic central unit sets the speed regulation reference and another signal reports the status of the system, including faults, which the central unit can use to trigger corrective events.

The same 6Step (or trapezoidal) control algorithm (often with no shunt resistors) drives the many different ESCs offering various motor current, size and input voltages for remote control applications.

A more sophisticated control algorithm is used in the STEVAL-ESC001V1, based on field oriented control (FOC); it features:

 better torque control

 motor current regulation in case of fast load change

 vibration reduction

 active braking function

 better efficiency

 noise reduction

 a real-time monitor of the rotor speed

 energy recovery during the deceleration

The typical system architecture pictured below shows individual ESC boards connected to single brushless motors in a quadcopter system. An external Li-Po battery powers the four boards and a wired bus carries communication between each board and an external unit such as a flight control board.

图3.评估板STEVAL-ESC001V1外形图

评估板STEVAL-ESC001V1主要特性:

 3 phase driver board for BLDC/PMSM motors with discrete N-channel 30 V, 160 A STripFET™ H7 Power MOSFETs

 48-pin STM32 with FPU ARM® Cortex®-M4 MCU with 128 Kbytes Flash, 72 MHz CPU, MPU, CCM, 12-bit ADC 5 MSPS, PGA, comparators

 Nominal operating voltage range: 3S-6S Li-Po battery DC voltage level (11.1 V up to 22.2 V)

 Maximum RMS output current: 20 Arms

 Output peak current: 30 A

 BEC available (5 V, 0.5 A for supplying external board; e.g., flight control board)

 Designed for field oriented control (FOC) in sensorless mode

 Supported by ST motor control software development kit (SDK)

 Ready to use with ST motor profiler

 3-shunt mode supported for motor current sensing

 Cross conduction protection based on L6398 driver

 Overcurrent and overvoltage protection feature (OCP/OVP)

 Thermal measuring and overheating protection with on-board NTC

 Horizontal bus capacitors for low profile

 CAN, UART, I²C, SWD and PWM connectors available

 Fully populated board conception with test points for DAC, GPIOs, PWM signals, motor current feedback and CAN

 User LEDs (green and red)

 Target applications: motor driving for R/C vehicles, UAV drone, electric car etc.

 PCB type and size:

 PCB material: FR-4

 Multi-layer architecture

 Dimensions: 29.1 mm x 58 mm

 RoHS compliant

评估板STEVAL-ESC001V1目标应用:

Motor driving for remote control vehicles, UAV drones, electrical cars and boats, etc.

图4.评估板STEVAL-ESC001V1系统架构图

图5.四翼无人机架构图

图6.评估板STEVAL-ESC001V1框图

图7.评估板STEVAL-ESC001V1功能分布图(正面)

图8.评估板STEVAL-ESC001V1功能分布图(背面)

图9.评估板STEVAL-ESC001V1电路图(1)

图10.评估板STEVAL-ESC001V1电路图(2)

图11.评估板STEVAL-ESC001V1电路图(3)

图12.评估板STEVAL-ESC001V1电路图(4)

评估板STEVAL-ESC001V1材料清单:

ST

意法半导体(ST)成立于1987年，是意大利SGS微电子公司和法国汤姆逊(Thomson)半导体合并后的新企业。1998年5月，SGS-THOMSON Microelectronics将公司名称改为意法半导体有限公司(STMicroelectronics)。

公司自1994年起公开上市，意法半导体股票在纽约证券交易所(交易代码：STM)、泛欧巴黎证券交易所和意大利米兰证券交易所挂牌上市。从成立之初至今，意法半导体的增长速度超过了半导体工业的整体增长速度。自2005年起，意法半导体始终是世界五大半导体公司之一。2006年全年收入98.5亿美元，2007年前半年公司收入46.9亿美元。

整个集团共有员工约50,000人，拥有16个先进的研发机构、39个设计和应用中心、13个主要制造厂，并在36个国家设有78个销售办事处。

公司总部设在瑞士日内瓦，同时也是欧洲、中东和非洲地区(EMEA)市场的总部;公司的美国总部设在德克萨斯州达拉斯市的卡罗顿;亚太区总部设在新加坡;日本的业务则以东京为总部;大中国区总部设在上海，负责香港、大陆和台湾三个地区的业务。

公司销售收入在半导体工业五大高速增长市场之间分布均衡(五大市场占2007年销售收入的百分比)：通信(35%)，消费(17%)，计算机(16%)，汽车(16%)，工业(16%)。据最新的工业统计数据，意法半导体是全球第五大半导体厂商，在很多市场居世界领先水平。例如，意法半导体是世界第一大专用模拟芯片和电源转换芯片制造商，世界第一大工业半导体和机顶盒芯片供应商，而且在分立器件、手机相机模块和车用集成电路领域居世界前列。

意法半导体(ST)推出一个新的内置闪存的安全型微控制器(MCU)，该产品是世界第一个采用90nm (90纳米)制造工艺的微控制器。ST21F384是ST成功的ST21智能卡平台内的第一款安全型微控制器，是为2.5G和3G移动通信优化的产品。新产品改用闪存做程序存储器，淘汰了以前的掩膜ROM，提高了产品制造的灵活性，缩短了从设计到制造的准备时间，同时90nm技术还提高了成本效益。

新的ST21F系列产品使卡制造商能够对飞速变化的手机市场需求做出快速的注重成本效益的反应，然后在制造工序的智能卡个性化阶段自定义应用程序，用一个产品解决多家移动通信网络运营商(MNOs)的要求。因为与一个特定的运营商无关，所以新产品降低了供应链的风险和复杂性。

ST21F384的内核是一个8/16位CPU，线性寻址宽度16MB，典型工作频率21MHz。芯片内置7KB用户RAM存储器，以及128字节页面的384KB闪存，耐擦写能力与早期安全微控制器的EEPROM存储器相当。电流消耗完全符合2G和3G的电源规格，达到了(U)SIM的应用要求。该微控制器含有一个硬件DES (数据加密标准)加速器和用户可以访问的CRC (循环冗余代码)计算模块。

如果采用了这个闪存安全型微控制器，卡制造商将能够缩短在整个制造工序中从设计到投产的准备时间，验证卡上的操作系统(OS)和向运营商提供样片所需的时间会更短。因为可以库存没有编程的空白芯片，所以新产品还有助于缩短产品的量产周期，同时还会大幅度缩短操作功能升级和实现新的MNO要求所需的周期。

由于应用程序保存在闪存内，卡制造商无需再支付ROM掩模成本;此外，因为只需实现最终客户需要的功能，而不必设计一个标准解决方案，应用软件本身可以写得更小。ST的片上闪存装载器提供一个成本低廉的操作系统装载功能。

ST21F384的样片现已上市，定于2007年12月量产。ST的封装能力在业界堪称独一无二，其智能卡IC有两种封装形式：切割过的晶片和先进微型模块，其中模块的集成度和安全性都非常出色。ST21F384产品分为切割过的晶片或没切割过的晶片，模块封装分为6触点(D17)和8触点(D95)两个规格，符合欧洲RoHS环保标准，触点排列符合ISO 7816-2标准。订购100000颗晶片，每颗0.45美元。