ST UM2168 User manual

October 2018 DocID030267 Rev 4 1/30
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UM2168
User manual
Using STM32 motor control workbench with STSPIN32F0
and STSPIN32F0A
Introduction
The STSPIN32F0 and STSPIN32F0A are systems-in-package providing an integrated
solution suitable for driving 3-phase BLDC motors using different driving modes. The
integrated MCU (STM32F031x6) allows the performance of field-oriented control.
This document explains how to drive the STSPIN32F0 or STSPIN32F0A with FOC
algorithms, using the STM32 motor control workbench software to generate all the
parameter header files, to configure the STM32 PMSM FOC library according to application
needs.
To drive a motor with FOC algorithms using the STSPIN32F0 or STSPIN32F0A device,
follow this simple workflow:
1. Set up the hardware.
2. Use STM32 motor control workbench to configure the library and generate the code.
Figure 1. STM32 motor control workbench start window
3. Create the library and download the firmware.
4. Control the motor.
www.st.com

Contents UM2168
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Contents
1 Set up hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Use STM32 motor control workbench to configure the library and
generate the code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.1 Create new project for ST STEVAL-SPIN3201 board . . . . . . . . . . . . . . . . 3
2.2 Create new project for ST STEVAL-SPIN3202 board . . . . . . . . . . . . . . . . 4
2.3 Create a new project for STSPIN32F0/A mounted on a custom board . . . 6
2.4 Customize parameters for application needs . . . . . . . . . . . . . . . . . . . . . . . 9
2.4.1 Motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4.2 Power stage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.4.3 Drive management parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.4.4 Control stage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3 Create the library and download the firmware . . . . . . . . . . . . . . . . . . . 23
3.1 Generation of the source code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 Using STSW-SPIN3201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.3 Compile and download the firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4 Control the motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

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1 Set up hardware
Choose the board according to the target: you can use the ST STEVAL-SPIN3201 or
STEVAL-SPIN3202 boards or you can use a custom board;
Connect the board, power supply and plug in your motor.
2 Use STM32 motor control workbench to configure
the library and generate the code
The STM32 motor control workbench can be used to configure the FOC firmware library to
use in your application. The user can use the STEVAL-SPIN3201 or STEVAL-SPIN3202
boards or a custom board can be used.
2.1 Create new project for ST STEVAL-SPIN3201 board
The STEVAL-SPIN3201 board is a three-phase brushless DC motor driver board based on
the STSPIN32F0, a 3-phase controller with an integrated STM32 MCU.
The device provides an affordable and easy-to-use solution for the evaluation of the device
in low voltage motor driving applications such as fans, drones and power tools.
The board is designed for sensored or sensorless FOC algorithms with 3-shunt sensing. To
create a new project for the STM32 motor control workbench based on STEVAL-SPIN3201,
follow the procedure:
Open the STM32 motor control workbench v5.2;
Click on “New Project” and a parameter window appears;
Choose the “Inverter” board type and select the STEVAL-SPIN3201 from the dropdown
list (Figure 2). In this way, the application automatically loads all the hardware-related
parameters for the FOC library.
Figure 2. Parameter window for STEVAL-SPIN3201
From the motor list, one of the pre-configured motors or a generic starting model can
be selected (Figure 3);

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Figure 3. Pre-configured motor window
Click OK. A new project is now created according to the starting parameters selected.
A configuration window appears, allowing the parameters to be set for:
– “Motor”
– “Power Stage”
– “Drive Management” (i.e. FOC algorithm configuration)
– “Control Stage” (i.e. MCU configuration)
Using the STEVAL-SPIN3201 device, the configuration parameters for the Power Stage,
Drive Management, and Control Stage are already set.
2.2 Create new project for ST STEVAL-SPIN3202 board
The STEVAL-SPIN3202 board is a three-phase brushless DC motor driver board based on
the STSPIN32F0A, a 3-phase controller with integrated STM32 MCU.
The device provides an affordable and easy-to-use solution for the evaluation of the device
in low voltage motor driving applications such as fans, drones and power tools.
The board is designed for the sensored or sensorless FOC, with single shunt current
sensing.
To create a new project for the STM32 motor control workbench based on STEVAL-
SPIN3202 follow the procedure:
Open the STM32 motor control workbench v5.2;
Click on “New Project” and a parameter window appears;
Choose the “Inverter” board type and select the STEVAL-SPIN3202 from the dropdown
list (Figure 4). In this way, the application automatically loads all the hardware-related
parameters for the FOC library.
From the motor list, one of the pre-configured motors or a generic starting model can
be selected (Figure 5);
Click OK. A new project is now created according to the starting parameters selected.
A configuration window appears, allowing the parameters to be set for:
– “Motor”
– “Power Stage”
– “Drive Management” (i.e. FOC algorithm configuration)
– “Control Stage” (i.e. MCU configuration)

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Using the STEVAL-SPIN3202 device, the configuration parameters for the Power Stage,
Drive Management and Control Stage are already set.
Figure 4. Parameter window for STEVAL-SPIN3202
Figure 5. Pre-configured motor window

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2.3 Create a new project for STSPIN32F0/A mounted on a
custom board
To create a new project for STM32 motor control workbench using a custom board, follow
the procedure:
Open the STM32 motor control workbench v5.2;
Click on New Project and a parameter window appears;
Select the options as shown in Figure 6:
Figure 6. Parameter window for custom board
From the motor list, one of the pre-configured motors or a generic starting model can
be selected (Figure 7);
Figure 7. Pre-configured motor window
Click OK. A new project is now created according to the starting parameters selected.

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A configuration window appears, allowing the parameters to be set for:
– “Motor”
– “Power Stage”
– “Drive Management” (i.e. FOC algorithm configuration)
– “Control Stage” (i.e. MCU configuration)
Using a custom board, choose the configuration parameters for the Power Stage and
Control Stage that best fit your application;
To use the integrated MCU (STM32F031x6), remember that a limited number of pins
can be accessed, as can be seen in the STSPIN32F0 or in the STSPIN32F0A
datasheet. Here is a list of pins that can be used to access the integrated MCU for both
devices:
Table 1. STSPIN32F0: Accessible pins for integrated MCU
No. Name Function
4 PF0 MCU PF0
5 PF1 MCU PF1
7 NRST MCU reset pin
11 PA0 MCU PA0
12 PA1 MCU PA1
13 PA2 MCU PA2
14 PA3 MCU PA3
15 PA4 MCU PA4
16 PA5 MCU PA5
17 PA6 MCU PA6
18 3FG_PA7 3FG open-drain output or MCU PA7
19 PB1 MCU PB1
37 PA13_SWD_IO MCU PA13/SWDIO (system debug data via ASIC)
38 PA14_SWD_CLK MCU PA14/SWDCLK (system debug clock)
39 PB6 MCU PB6
40 PB7 MCU PB7

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Table 2. STSPIN32F0A: Accessible pins for integrated MCU
No. Name Function
4 PF0 MCU PF0
5 PF1 MCU PF1
7 NRST MCU reset pin
11 PA0 MCU PA0
12 PA1 MCU PA1
13 PA2 MCU PA2
14 PA3 MCU PA3
15 PA4 MCU PA4
16 PA5 MCU PA5
17 PA6 MCU PA6
18 PA7 MCU PA7
19 PB1 MCU PB1
37 PA13_SWD_IO MCU PA13/SWDIO (system debug data via ASIC)
38 PA14_SWD_CLK MCU PA14/SWDCLK (system debug clock)
39 PA15 MCU PA15
40 PB6 MCU PB6
41 PB7 MCU PB7
42 BOOT0 MCU BOOT0

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2.4 Customize parameters for application needs
When a project is opened by the STM32 motor control workbench, a configuration window
appears allowing the user to easily manage parameters for the FOC firmware library. There
are 4 families of parameters that should be changed to best fit the characteristics of the
application.
Figure 8. STM32 motor control workbench configuration window
2.4.1 Motor parameters
In the configuration window the motor parameters can be manually inserted by clicking on
the motor symbol and filling the fields (Figure 9). If “save parameters” is clicked on, the user
can add their motor to the preset list of motors.

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Figure 9. Motor parameters window
2.4.2 Power stage parameters
There is a family of parameters which are not covered in Figure 10 that are related to the
hardware of the board.
Figure 10. Power stage setting