ST STEVAL-IHM022V1 User manual

September 2009 Doc ID 15464 Rev 1 1/10
UM0688
User manual
Quick reference guide for the STEVAL-IHM022V1 STM32™ dual
motor drive demonstration board and software application
Introduction
The STEVAL-IHM022V1 demonstration board is designed as a dual and triple motor control
development platform for STMicroelectronics’ ARM Cortex™-M3 core-based
STM32F103ZE microcontroller. It includes full speed USB 2.0, a CAN 2.0 A/B compliant
interface, 2 I2S channels, 2 I2C channels, 5 USART channels, 3 SPI channels, 2 DAC
channels, 64 KB of internal SRAM and 512 KB Flash memory and JTAG and SWD
debugging support. The demonstration board is designed to implement multiple motor
control (three MC connectors are provided) and, in addition to the above-listed peripherals
support, it offers an advanced user I/O interface (LCD QVGA display and joystick key).
Extension headers make it possible to easily connect a daughterboard or wrapping board for
a specific application. The demonstration board can be ordered through order code
STEVAL-IHM022V1.
Features
■Four 5 V power supply sources: 2-way screw connector, power jack, USB connector or
daughterboard
■Boot from user Flash or system memory
■64 Mbit serial Flash included
■Two RS-232 channels with RTS/CTS handshake support on one channel
■USB 2.0 full speed connection
■CAN 2.0 A/B compliant connection
■Two full-featured motor control connectors for field oriented control plus PFC support on
one connector
■JTAG, SWD and trace debug support
■240 x 320 TFT color LCD
■Joystick with 4-direction control and selector
■Reset, wakeup, tamper and user button
■4 LEDs
■Extension connectors for daughterboard or wrapping area board
Figure 1. STEVAL-IHM022V1 demonstration board
AM00172V1
www.st.com
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Contents UM0688
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Contents
1 Hardware features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.1 Demonstration board architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 STM32 peripherals mapping on the STEVAL-IHM022V1 . . . . . . . . . . . . . 3
1.3 Multiple motor control operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Connecting the STEVAL-IHM022V1 to inverter power stage boards . . . . . 4
2 Software demonstration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1 General description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Embedded user interface and debug mode . . . . . . . . . . . . . . . . . . . . . . . . 5
2.3 Memory size and CPU workload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3 Demonstration configuration parameters . . . . . . . . . . . . . . . . . . . . . . . . 7
3.1 FOC drive parameters and configuration files . . . . . . . . . . . . . . . . . . . . . . 7
3.2 Demonstration scope and limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
5 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
www.BDTIC.com/ST

UM0688 Hardware features
Doc ID 15464 Rev 1 3/10
1 Hardware features
1.1 Demonstration board architecture
The STEVAL-IHM022V1 demonstration board is designed around the STM32F103ZE in a
144-pin TQFP package. The block diagram of the demonstration board is shown in Figure 2,
which illustrates the connections between the STM32 MCU and the supported connectors.
Figure 2. Hardware block diagram
The board features:
●3 motor control connectors for supporting up to three 3-phase motor control operations
●2 USART, CAN, I2C and USB connectors for external interfacing
●JTAG/SWD and Trace connectors for debugging and developing applications
●embedded user interface constituted by an LCD TFT display and 5-way joystick key
(plus one additional user-defined key)
1.2 STM32 peripherals mapping on the STEVAL-IHM022V1
The block diagram in Figure 3 illustrates the connection between the STM32F103ZE
peripherals and the connectors on the demonstration board.
AM03552v1
USART2
Wakeup Joystick Key
Reset
MCU
MCU
BOOT0
BOOT1
Tamper
USART2USART1USBDC1DC2
JTAG
TRACE CAN
LCD
Display
MC Main
MC Sub1
MC Sub2
Pot
I2C Ext
MC_Sub2 Aux
USART2
Wakeup Joystick Key
Reset
MCU
MCU
MCU
MCU
BOOT0
BOOT1
BOOT0
BOOT1
Tamper
USART2USART2USART1USART1USBUSBDC1DC1DC2DC2
JTAGJTAG
TRACE CANCAN
LCD
Display
MC Main
MC Sub1
MC Sub2
Pot
I2C Ext
MC_Sub2 AuxMC_Sub2 Aux
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Hardware features UM0688
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Figure 3. MCU peripherals mapping
1.3 Multiple motor control operations
The STEVAL-IHM022V1 demonstration board supports up to three 3-phase brushless
motors via three 34-pin connectors named MC_Main, MC_Sub1, MC_Sub2, each providing
all required control and feedback signals to and from a motor power-driving board.
The MC_Main and MC_Sub1 connectors include emergency stop, motor speed feedback
(tacho, encoder and/or hall sensor), motor currents, DC bus voltage and heatsink
temperature sensing and 6 complementary PWM channels going to the motor driving
circuit. As far as the third motor control connector MC_Sub2 is concerned, the 6 PWM
channels can be derived either by using two general purpose timers working in
synchronization or by using one GP timer plus additional external circuitry for
complementary PWM signal generation. An auxiliary connector (MC_Sub2 Aux) is present
on the board for connecting a daughterboard for this purpose.
The MC_Main connector features additional sensing signals (AC 50/60 Hz mains and
rectified input current) for managing a digital power factor control, the software of which
executes within the same STM32 microcontroller used for multiple motor control.
1.4 Connecting the STEVAL-IHM022V1 to inverter power stage
boards
For simultaneous multiple motor operations, STEVAL-IHM022V1 must be connected to
three phase inverter power stages through the MC Main, MC Sub1 and MC Sub2 34-pin
connectors.
In the application demonstration, dual motor control driving has been implemented and two
power stages, MB459 and STEVAL-IHM011V1, available from STMicroelectronics have
been connected to the control stage. They can be ordered through ST regional sales offices.
AM03553v1
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UM0688 Software demonstration
Doc ID 15464 Rev 1 5/10
2 Software demonstration
2.1 General description
The demonstration firmware running on the STEVAL-IHM022V1 board is capable of
performing dual motor control operations in simultaneous mode. Up to two motors can be
driven in field oriented control (FOC), single shunt resistor and in sensorless mode (no
speed sensor needed).
Dual motor control firmware uses the FOC routines implemented on the STM32 PMSM
library ver. 2.0 firmware package and therefore shares the same principles for configuring
the motor drive with user parameters.
Moreover, the software architecture has been extended to treat each motor drive as an
independent element, allowing the setting of the drive and motor parameters completely
independently.
2.2 Embedded user interface and debug mode
An embedded UI (LCD TFT 320x240 display and 5-position joystick) allows the user to set
numerous motor control parameters in real-time during motor operation. Basically, the UI is
comprised of:
●TFT LCD graphical display
●Micro joystick key with five positions
●A dedicated key for starting/stopping the motors
The user can set all relevant motor drive and control parameters by means of a set of screen
views shown on the LCD display.
The debug functionality allows the user to select which motor control variables must be sent
via the DAC outputs (2 channels).
2.3 Memory size and CPU workload
Dual motor control software is provided for demonstration purposes and is not as full-
featured as the STM32 FOC motor control library V. 2.0 from which it was derived. In
Section 3 the allowed configurations are described in greater detail. The following table
provides some figures regarding memory size and CPU workload:
Table 1. Dual motor control firmware performance information
Firmware configuration(1) Flash memory
occupation
CPU load
(estimation)
Standard dual motor control (no UI + sensorless mode) 20 KB ~45%
Standard dual motor control (no UI + encoder sensing) 18.5 KB N.A.
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Software demonstration UM0688
6/10 Doc ID 15464 Rev 1
Advanced dual motor control
(no UI + sensorless mode + advanced motor driving techniques) 22.5 KB N.A.
Full dual motor control
(UI + sensorless mode + advanced motor driving techniques +
debug functionalities)
45.5 KB N.A.
1. All configurations refer to single shunt mode and repetition counter = 3
Table 1. Dual motor control firmware performance information (continued)
Firmware configuration(1) Flash memory
occupation
CPU load
(estimation)
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UM0688 Demonstration configuration parameters
Doc ID 15464 Rev 1 7/10
3 Demonstration configuration parameters
3.1 FOC drive parameters and configuration files
The values listed in Ta b l e 1 have been calculated under the following conditions:
●CPU clock @ 72 MHz
●Motor control PWM frequency: 12 kHz
●Max modulation index: 96%
●Current control loop speed: 6 kHz (repetition counter = 3)
●Speed loop sampling time: 500 Hz
●Each motor current sensed over 1 single shunt resistor
All these settings (together with others) are provided through parameter configuration files,
the filenames of which have the suffix _param.
3.2 Demonstration scope and limitations
As previously stated, the software program provided with the dual MC board is only for
demonstration purposes and it is tuned to run a particular model of low-voltage motor. This
limitation must be taken into account when the user tries to modify the operating parameters
listed in Section 3.1. It is strongly recommended to refer to user manual UM0492
(STM32F103xx permanent-magnet synchronous motor FOC software library V 2.0) or user
manual UM0683 for full details on this subject before performing any customizing of the
software.
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References UM0688
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4 References
Detailed information on the STEVAL-IHM022V1 demonstration board and software
demonstration provided with this hardware can be found in the following documents,
available for download from www.st.com:
●User manual UM0686
●User manual UM0683
www.BDTIC.com/ST

UM0688 Revision history
Doc ID 15464 Rev 1 9/10
5 Revision history
Table 2. Document revision history
Date Revision Changes
01-Sep-2009 1 Initial release.
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UM0688
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