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<pclass="heading">Other topologies for low-side current sensing for Steppers</p>
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See the link <ahref="https://community.simplefoc.com/t/low-side-current-sensing-for-stepper-motors/7235">Low-side current sensing for stepper motors</a> in the community forum for more information about other topologies for low-side current sensing for stepper motors.
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</blockquote>
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</div>
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<blockquoteclass="info"markdown="1">
@@ -44,6 +52,7 @@ STM32f4 family | ✔️ (one motor) | DMA| ~25kHz| all
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STM32g4 family | ✔️ (one motor) | DMA| ~25kHz| all
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STM32l4 family | ✔️ (one motor) | DMA| ~25kHz| all
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STM32f7 family | ✔️ (one motor) | DMA| ~25kHz | all
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STM32h7 family | ✔️ (one motor) | DMA| ~25kHz | all
<blockquoteclass="info"> 📢 Here is a quick guide to choosing appropriate PWM pins for different MCU architectures <ahref="choosing_pwm_pins">see in docs</a>.</blockquote>
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<blockquoteclass="warning"markdown="1">
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<pclass="heading">⚠️ <b>Note:</b> When using the 3PWM BLDC driver with a stepper motor, ensure that the common phase `Uo` is connected to the driver's C phase pin.</p>
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Even if the common phase `Uo` is physically connected to some other driver output (`A` or `B`), please provide it as the `C` phase pin in the driver constructor. This is important for the correct operation of the stepper motor.
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Consider an example of the driver connected to the MCU pins as follows:
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```cpp
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#definePIN_A 9
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#define PIN_B 10
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#define PIN_C 11
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#define ENABLE 8
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```
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If the common phase `Uo` is connected to the driver pin `A`, you should still provide it as the `C` phase pin in the driver constructor:
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```cpp
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// common phase `Uo` connected to driver pin `A` so it is provided as the `C` phase pin
As ADC conversion has to be synchronised with the PWM generated on ALL the phases, it is important that all the PWM generated for all the phases have aligned PWM. Since the microcontrollers usually have more than one timer for PWM generation on its pins, different architectures of microcontrollers have different degrees of alinement in between the PWM generated from different timers.
This parameter is used by the `BLDCMotor` class as well. As shown on the figure above the once the voltage limit `driver.voltage_limit` is set, it will be communicated to the FOC algorithm in `BLDCMotor` class and the phase voltages will be centered around the `driver.voltage_limit/2`.
⚠️ **Note:** When using the 3PWM BLDC driver with a stepper motor, ensure that the common phase `Uo` is connected to the driver's C phase pin.
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</blockquote>
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</div>
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6 PWM control mode gives much more freedom for BLDC motor control than 3PWM control since each of the 6 half-bride mosfets can be controlled separately.
<blockquoteclass="info"> 📢 Here is a quick guide to choosing appropriate PWM pins for different MCU architectures <ahref="choosing_pwm_pins">see in docs</a>.</blockquote>
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<blockquoteclass="warning"markdown="1">
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<pclass="heading">⚠️ <b>Note:</b> When using the 6PWM BLDC driver with a stepper motor, ensure that the common phase `Uo` is connected to the driver's C phase pin.</p>
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Even if the common phase `Uo` is physically connected to some other driver output (`A` or `B`), please provide it as the `C` phase pin in the driver constructor. This is important for the correct operation of the stepper motor.
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Consider an example of the driver connected to the MCU pins as follows:
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```cpp
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#definePIN_A_H 9
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#define PIN_A_L 10
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#define PIN_B_H 11
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#define PIN_B_L 12
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#define PIN_C_H 13
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#define PIN_C_L 14
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#define ENABLE 8
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```
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If the common phase `Uo` is connected to the driver pin `A`, you should still provide it as the `C` phase pin in the driver constructor:
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```cpp
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// common phase `Uo` connected to driver pin `A` so it is provided as the `C` phase pin
Arduino UNO and all the atmega328 based boards have only 6 PWM pins and in order to use the `BLDCDrievr6PWM` we need to use all of them. Those are `3`,`5`,`6`,`9`,`10` and `11`.
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Furthermore in order for the algorithm to work well we need to use the PWM pins that belong to the same timer for each high/low side pair of each phase.
This parameter is used by the `BLDCMotor` class as well. As shown on the figure above the once the voltage limit `driver.voltage_limit` is set, it will be communicated to the FOC algorithm in `BLDCMotor` class and the phase voltages will be centered around the `driver.voltage_limit/2`.
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## Step 4. <ahref="motors_config"class="remove_dec"> Motor setup </a>
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After the position sensor and the driver we proceed to initializing and configuring the motor. The library supports BLDC motors handled by the `BLDCMotor` class as well as stepper motors handled by the `StepperMotor`class. Both classes are instantiated by providing just the `pole_pairs` number of the motor and optionally the motors´ phase resistance and the KV rating.
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After the position sensor and the driver we proceed to initializing and configuring the motor. The library supports BLDC motors handled by the `BLDCMotor` class as well as stepper motors handled by the `StepperMotor`and `HybridStepperMotor` classes. Both classes are instantiated by providing just the `pole_pairs` number of the motor and optionally the motors' phase resistance and the KV rating.
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