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ESC32 2r1 user manual - version 0.0
Autoquad ESC32 Features:
- STM32F103 72MHz ARM 32-bit Cortex(TM) M3 MCU
- All N-FET design with gate drivers
- 2S through 5S battery voltage
- Option to power logic side via UART or PWM IN at +5V
- CAN transceiver hardware support onboard
- Firmware written completely in C
- Cortex SWD connector pads for real-time debugging
- Communications ports: PWM IN / UART / I2C / CAN Bus
- Communications protocols: PWM IN / CLI / binary / 1-wire / I2C** / CAN**
- 4KHz to 64KHz PWM out
- Current sensing / limiting with real shunt resistor
- Virtual current limiter
- Regenerative braking (experimental)
- Closed loop control modes
- Lot of available RAM / FLASH for experimentation and development
** I2C and CAN drivers not yet released!
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Summary of Contents for Autoquad ESC32 2r1
- Page 1 ESC32 2r1 user manual - version 0.0 Autoquad ESC32 Features: - STM32F103 72MHz ARM 32-bit Cortex(TM) M3 MCU - All N-FET design with gate drivers - 2S through 5S battery voltage - Option to power logic side via UART or PWM IN at +5V...
- Page 2 ESC32 2r1 user manual - version 0.0 Important note from ESC32 creator Bill Nesbitt about current levels attainable: “I am sure the first question will be how much current can they handle. The truth is that I don’t really know. According to their data sheet, the FETs are capable of 160A continuous.
- Page 3 ESC32 2r1 user manual - version 0.0 1.1 Input capacitor: 1.2 Power connection: The input capactitor is a critical component for ESC32 operation. The capacitor There are multiple ways the main input wires can be connected. We leave it (330uF/35V) supplied with the kit is safe for “normal” use on up to 4S with up to you to determine what works best for you.
- Page 4 ESC32 2r1 user manual - version 0.0 1.4 PWM connection 1.7 Cortex SWD connection. (J4) Solder the PWM servo wire to the A standard 10-pin SMT Cortex (TM) SWD connector PWM pads or add header pins. (Samtec FTSH-105-01-F-DV) can be soldered to the board for realtime debugging of ESC32.
- Page 5 ESC32 2r1 user manual - version 0.0 2 - Select power for logic side Autoquad ESC32 is an “Opto” style ESC. It means it has no built-in BEC – so It cannot powersupply anything but the motors and itself. The ESC32 has two options for powering the logic side: •...
- Page 6 First time you power up the ESC32, we recommend to have the 5V option run at low currents. selected and hook it up to the AutoQuad widget in Qgroundcontrol or CLI via The upper limit is probably upwards of 50A, but that will require extremely the UART interface without main power connected.
- Page 7 Connect ESC32 to autoquad widget in QGroundControl On the left side of the screen you can see the "Link ESC32" Tab: The Autoquad version of QGroundControl (QGC) has a widget included to alter settings of ESC32 Download Qgroundcontrol for autoquad from: http://code.google.com/p/autoquad/downloads/list...
- Page 8 ESC32 2r1 user manual - version 0.0 Now you can alter the parameters in ESC32, but make sure you dont change parameters unless you are know how the different parameters affects opera- tion. Certain parameter combinations can be fatal for the ESC and motor! Refer to the User configurable parameters section for more information on what each parameter controls.
- Page 9 ESC32 2r1 user manual - version 0.0 User configurable parameters: Generally, no parameters will need to be changed for normal out of the box PWM operation. However, there are various parameters that can be set . Each parameter is a single numerical value. Note that some combinations of parameters can cause damage to your motor or ESC. It is recommended to leave most values at their default values unless you are sure of how they impact function and operation.
- Page 10 ESC32 2r1 user manual - version 0.0 MIN_PERIOD The minimum commutation period allowed in microseconds MAX_PERIOD 12000 The maximum commutation period allowed in microseconds BLANKING_MICROS The number of microseconds to ignore back EMF after a commutation. ADVANCE The amount of timing advance in electrical degrees. There are 60 electrical degrees in a commutation cycle.
- Page 11 Closed loop calibration is not covered by this manual yet, because it can be a bit hairy to run under Linux - we are working hard to get it included into QGC, so it can be done with a single click. Refer to forum.autoquad.org for more details on how to perform closed loop calibration of ESC32 under linux or OSX. Environmental ESC32 is produced in Germany and is fully ROHS-compliant, meaning that lead and other poisonous substances are minimized as much as possible.
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