UM2197

User manual

Electronic speed controller for BLDC and PMSM three phase brushless motor

Introduction
The STEVAL-ESC001V1 reference design for electronic speed controllers (ESC) for drones fits entry-level commercial drone
designs and drives any three-phase brushless (or PMSM) motor running off 6S LiPo battery packs, or any equivalent DC supply,
up to 30 A peak current.
The STEVAL-ESC001V1 lets you spin a motor and its propeller in minutes thanks to a complete pre-configured firmware
package (STSW-ESC001V1), implementing a sensorless Field Oriented Controlled algorithm with 3-shunt current reading,
speed control and full active braking.
The reference design board can accept commands from a flight control unit through PWM signals; other communication bus
interfaces like UART, CAN, and I²C are also available. The reference embeds a battery eliminator circuit working at 5 V, an NTC
sensor for temperature measurement and circuitry for overcurrent / overvoltage protection (OCP/OVP). The compact form factor
and current capability render this reference design suitable for electronic speed controllers on small and light unmanned aerial
vehicles like professional drones.
The STSW-ESC001V1 firmware/software package plus STM32 PMSM FOC software development kit - MC library let you refine
your electronic speed controller design by acting on the field oriented control parameters embedded in the STM32 and
experiment with the ST motor profiler to rapidly retrieve the motor parameters. The ST sensorless FOC algorithm ensures
longer flight times and optimal dynamic performance.
The STEVAL-ESC001V1 has been designed around the highly efficient, low Rdson STripFET F7 power MOSFETs, the high-
performance STM32F303CBT7 microcontroller with ARM® Cortex®-M4 core and the L6398 drivers.

Figure 1. STEVAL-ESC001V1 evaluation board

UM2197 - Rev 2 - November 2018 www.st.com

For further information contact your local STMicroelectronics sales office.
 UM2197
Main features

1 Main features

• Complete reference design for electronic speed controller implementing a sensorless FOC algorithm
• Designed for drones with 6S pack of LiPo batteries or systems with an equivalent suitable DC supply
• ESC ready for communication with any standard flight control unit (FCU): PWM or CAN
• Temperature overheating protection
• Nominal operating voltage range: 3S-6S Li-Po battery DC voltage level (11.1 to 22.2 V)
• Maximum RMS output current: 20 Arms
• Output peak current: 30 A
• Battery eliminator circuit (BEC): 5 V/0.5 A for external receiver or FCU
• Complete pre-configured firmware package available (STSW-ESC001V1)
• Supported by ST motor control software SDK and ST motor profiler
• Compact PCB design: 29.1 x 58 mm
• Further target applications:
– motor driving for RC vehicles: electric cars, helicopter, trucks, etc.
– any three-phase BLDC or PMSM motor application
• RoHS and WEEE compliant

1.1 Target application

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

Figure 2. STEVAL-ESC001V1 target applications

UM2197 - Rev 2 page 2/26

 UM2197
Description

2 Description

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.

UM2197 - Rev 2 page 3/26

 UM2197
Description

Figure 3. System structure overview

Figure 4. Typical quadcopter architecture

UM2197 - Rev 2 page 4/26

 UM2197
STEVAL-ESC001V1 hardware overview

The on-board I²C, UART, PWM and CAN communication protocols provide maximum flexibility and a DC-DC
converter with 5 V output connector (BEC) can supply an external control unit or sensor board.

2.1 STEVAL-ESC001V1 hardware overview

The STEVAL-ESC001V1 power and control platform is based on the ST componentry illustrated below.

Figure 5. STEVAL-ESC001V1 block diagram

2.1.1 STEVAL-ESC001V1 top side components

The inverter section is formed by the L6398 gate driver and the STL160N4F7 and the Power MOSFETs.

Figure 6. Top side features

L6398 high voltage high and low-side driver

The L6398 is a high voltage device manufactured with the BCD™ “offline” technology. It is a single-chip half
bridge gate driver for the N-channel power MOSFET or IGBT.
The high-side (floating) section is designed to stand a voltage rail up to 600 V. The logic inputs are CMOS/TTL
compatible down to 3.3 V for the easy interfacing microcontroller/DSP.
Key features:
• High voltage rail up to 600 V

UM2197 - Rev 2 page 5/26

 UM2197
STEVAL-ESC001V1 hardware overview

• dV/dt immunity ±50 V/ns in full temperature range

• Driver current capability:
– 290 mA source
– 430 mA sink
• Switching times 75/35 ns rise/fall with 1 nF load
• 3.3 V, 5 V TTL/CMOS input comparators with hysteresis
• Integrated bootstrap diode
• Fixed 320 ns deadtime
• Interlocking function
• Compact and simplified layout
• Bill of material reduction
• Flexible, easy and fast design
STL160N4F7 160 A STripFET™ F7 Power MOSFETs
This N-channel Power MOSFET uses STripFET™ F7 technology with an enhanced trench gate structure that
results in very low on-state resistance, while also reducing internal capacitance and gate charge for faster and
more efficient switching.
L7986, LD1117S50 and LD39050PU33R
These devices provide the appropriate voltage for gate driving, BEC output and MCU power.

2.1.2 STEVAL-ESC001V1 bottom side components

Bottom side componentry is mainly for the digital section; featuring an STM32F303 microcontroller for three-shunt
sensorless FOC control in an LQFP 48-pin package.
STM32F303xB 32-bit ARM Cortex-M4 MCU with 128 Kbytes Flash and 72 MHz CPU
The family of microcontrollers is based on the high-performance ARM®Cortex®-M4 32-bit RISC core plus FPU
operating at 72 MHz max and embedded memory protection unit (MPU).

Figure 7. Bottom side features

UM2197 - Rev 2 page 6/26

 UM2197
Communication, programming and command interfaces

2.1.3 Board dimensions (29.1 x 58 mm)

Figure 8. STEVAL-ESC001V1 board dimensions (not including capacitors)

2.2 Communication, programming and command interfaces

The STEVAL-ESC001V1 features these communication interfaces:
• CAN port (J1): comes with an on-board transceiver; the J1 connector includes 3V3 and GND pins.
• UART/I²C port (J2): normally used for serial communication between the ESC board and a PC; ST MC
Workbench can be connected with the STM32, adding an external circuit (requires USB/RS232
converter-3v3 level)

Figure 9. UART TX/RX (3v3 level)

• PWM signal input (J3): connects with an external board (e.g., flight control unit), to receive commands; the
signal level (at 3v3) sets the motor speed according to the Ton duration (i.e., 1060 µs for min. speed and
1860 µs for max. speed). Other pins are for GND and a +5Vdc power line to supply an external board
• SWD debug port (J4): provides the SWD connection between the STM32 and ST-LINK programmer; other
pins like 3V3 and GND are available.

2.3 STM32 pinout for motor control

Table 1. Main STM32 pinout for motor control

Pin Default Signal Solder Bridge

1 VBAT 3V3
2 PC13/TAMP/RTC TP4
3 PC14 N.C.

UM2197 - Rev 2 page 7/26

 UM2197
STM32 pinout for motor control

Pin Default Signal Solder Bridge

4 PC15 N.C.
5 PF0/OSC-IN OSC 8Mhz
6 PF1/OSC-OUT OSC 8Mhz R4
7 NRST RESET
8 VSSA/VREF- GND
9 VDDA/VREF+ 3V3
10 PA0-WKUP Curr_fdbk1
11 PA1 Curr_fdbk2
12 PA2 Curr_fdbk3
13 PA3 Temperature feedback
14 PA4 VREF, DAC1, TP8 R6 N.M.
15 PA5 DAC2, TP9
16 PA6 N.C.
17 PA7 Vshunt_1_filtered
18 PB0 Vshunt_2_filtered
19 PB1 TIM1_CH3N
20 PB2 STATUS
21 PB10 N.C.
22 PB11 Vshunt_3_filtered
23 VSS1 GND
24 VDD1 3V3
25 PB12 PHASE_1
26 PB13 VBUS R5
27 PB14 PHASE_2
28 PB15 PHASE_3
29 PA8 TIM1_CH1
30 PA9 TIM1_CH2 R51
31 PA10 TIM1_CH3
32 PA11 TIM1_CH1N
33 PA12 TIM1_CH2N
34 PA13 SWDIO
35 VSS2 GND
36 VDD2 3V3
37 PA14 SWCLK
38 PA15 INPUT
39 PB3 N.C.
40 PB4 TP3
41 PB5 N.C.
42 PB6 USART1_TX/I2C1_SCL
43 PB7 USART1_RX/I2C1_SDA

UM2197 - Rev 2 page 8/26

 UM2197
STM32 pinout for motor control

Pin Default Signal Solder Bridge

44 BOOT0 BOOT0 R3
45 PB8 CAN_RX
46 PB9 CAN_TX
47 VSS
48 VDD

Table 2. Input/output terminals

Screw Terminal Function

J5/J6 Li-Po battery power input (3S-6S)

J7 3-PH Motor connector

UM2197 - Rev 2 page 9/26

 UM2197
Initializing and using the STEVAL-ESC001V1 ESC board

3 Initializing and using the STEVAL-ESC001V1 ESC board

Step 1. Connect the ST-LINK/V2 programmer to the J4 connector on the board.

Table 3. Relationship between the STEVAL board SWD pinout and SWD on ST-Link/V2
programmer

ST-LINK/V2 Target connection Pin no. in STEVAL-

Pin no. in STLINK ST-LINK/V2 function
connector (SWD) ESC001V1 (J4 connector)

1 VAPP Target VCC MCU VDD 1

2 VAPP Target VCC MCU VDD 1
6 GND 4
7 SW IO SWDIO 3
9 SW CLK SWCLK 2

Figure 10. STEVAL-ESC001V1 connection for MCU programming

Step 2. Set the SWD interface in the IDE tool

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 UM2197
Initializing and using the STEVAL-ESC001V1 ESC board

Figure 11. Sample SWD configuration on IAR tool

Step 3. Solder the three motor wires U,V,W at the motor connector with no particular color sequence.
As shown in Figure 12. STEVAL-ESC001V1 input/output connection, the right side is for the motor
connection with three pads provided for soldering.
Step 4. Solder the PWM input at J3 connector.
The INPUT pin level must not exceed 3V3.
Step 5. Connect the STEVAL-ESC001V1 with a Li-Po battery (or DC power supply: min 3S – max 6S) with the
right polarity and turn ON.
The input connector has two large pads for soldering: the top layer for GND and bottom for Vdc+. A
transil device prevents damage in case of reverse polarity.

UM2197 - Rev 2 page 11/26

 UM2197
Initializing and using the STEVAL-ESC001V1 ESC board

Figure 12. STEVAL-ESC001V1 input/output connection

Step 6. Verify if the green led is turned on.

Step 7. Open ST MC

Figure 13. ST MC Workbench

Step 8. Fill in the motor parameters

UM2197 - Rev 2 page 12/26

 UM2197
Initializing and using the STEVAL-ESC001V1 ESC board

Figure 14. ST MC Workbench – electrical motor parameters

Step 9. Fill in the startup parameters

UM2197 - Rev 2 page 13/26

 UM2197
Initializing and using the STEVAL-ESC001V1 ESC board

Figure 15. ST MC Workbench – startup parameters

Step 10. Open the correct workspace in your IAR IDE tool (STM32F30x_Workspace)
Step 11. Select the STM32303C-EVAL_SINGLEDRIVE project configuration (blue arrow), compile the source
code and upload the binary to the MCU (red arrow)

Figure 16. IAR tool select, compile and upload

Step 12. Generate a PWM signal at 490 Hz and duty cycle between 1060 µs and 1860 µs
The ESC is not armed (no driving signals generated) if the duty cycle is lower than 1060 µs.

UM2197 - Rev 2 page 14/26

 UM2197
Initializing and using the STEVAL-ESC001V1 ESC board

If the motor is already started, a blank time of 1500 ms on the PWM signal switches the system off
(ESC turned OFF).

Figure 17. PWM input signal for motor speed regulation

Step 13. The motor starts to rotate between the minimum and maximum speed.

UM2197 - Rev 2 page 15/26

 UM2197
Schematic diagrams

4 Schematic diagrams

Figure 18. STEVAL-ESC001V1 circuit schematic (1 of 4)

+3v3 +3.3V TP1 R1 J1

CAN_TX 0 CAN
1
2

1
U1 3
CAN_TX 1 8 +3.3V 4
2 D RS 7 R2
3 GND CANH 6 120
+3.3V VCC CANL
C1 CAN_RX 4 5
100nF R VREF
SN65HVD230
1

TP2
CAN_RX

V-

Figure 19. STEVAL-ESC001V1 circuit schematic (2 of 4)

+3v3 +3.3V

4 GND
GREEN RED 3 SWDIO
D2 D1 SWCLK
2
+3.3V
1
3 SWD
+5V J4
2
INPUT
1
510 510 PWMINPUT
R8 R7 J3
4 GND
+3.3V
3
PPM from FC unit 2
USART1_RX/I2C1_SDA
USART1_TX/I2C1_SCL
+3.3V STATUS 1
UART
J2
Vshunt_2_filtered
Vshunt_1_filtered
TIM1_CH3N

STATUS TP9
1
Vshunt_3_filtered

TP8 100nF
C13
PB1-WL

0N.M
DAC_OUT2

VREF
DAC_OUT

R6
Temperature feedback
100nF 1nF 100nF PhW
C12 C11 C10 TP7 PhV
TP6 PhU
21
22
24
23

20
19

16

14
18
17

13
15

VBUS PB13-BUSV +3.3V TP5 1µF 100nF

0
1

R5 C9 10nF 4.7µF
VDD1
VSS1

PB1
PB11

PB2

PB0
PB10

PA7
PA6

PA4
PA3
PA5

PA2 Curr_fdbk3 C7 C6 C8
1

PA1 12 PA2-PhW Curr_fdbk2

PHASE_1 PB12 STM32F303CBT7 PA0-WKUP 11 PA1-PhV Curr_fdbk1
25 PB13 VDDA/VREF+ 10 PA0-PhU
+3.3V
PHASE_2 26 PB14 VSSA/VREF- 9
PHASE_3 27 PB15 NRST 8
TIM1_CH1 28 PA8 PF1/OSC-OUT 7
TIM1_CH2 PA8-UH 29 PA9 PF0/OSC-IN 6
TIM1_CH3 PA9-VH 30 PA10 PC15 5
TIM1_CH1N PA10-WH 31 PA11 PC14 4
TIM1_CH2N PA11-UL 32 PA12 PC13/TAMP/RTC 3 220
PA12-VL 33 PA13 VBAT 2 R4
SWDIO
34 VSS2 1
BOOT0

35
PA14
PA15

VDD2
VDD
VSS
PB4
PB3

PB6
PB7

PB8
PB9
PB5

36 X18MHz
1nF
100nF C4 U2
41
42
40

44
43

46
47
48
45
37
38
39

C5 1nF 100nF
C3 C2 1
TP4
+3.3V
SWCLK
+3.3V
GPIO1 INPUT
CAN_TX
CAN_RX V-
10k
TP3 1 R3
USART1_TX/I2C1_SCL
USART1_RX/I2C1_SDA

UM2197 - Rev 2 page 16/26

 UM2197
Schematic diagrams

Figure 20. STEVAL-ESC001V1 circuit schematic (3 of 4)

3V3
For internal comparator
OCP circuit
R9
33K
VREF Vshunt_1 R10 Vshunt_1_filtered Vshunt_2 R11 Vshunt_2_filtered Vshunt_3 R12 Vshunt_3_filtered
C14 680 680 680
100nF 0.5 V
R13 C15 C16
5.9K 15nF 6.3V C17 15nF 6.3V
15nF 6.3V

3V3 3V3

3V3 3V3 3V3

3V3 C18
C19
100nF C21
R15 100nF C23
C20 R14 680pF 10V 8060 1% C22 R16
8060 1% 8060 1% 100nF
5

5
Vshunt_1 680pF 10V U5 Vshunt_2 U3 680pF 10V
Vshunt_3

5
R17 3 TSV991ILT R19 3 TSV991ILT
+ +
787 1 Curr_fdbk1 787 1 Curr_fdbk2 R20 3
Vshunt_1_GND Vshunt_2_GND +
4 4 787 1
- - Curr_fdbk3
R18 Vshunt_3_GND 4
R21 -
3.4k 1% 3.4k 1% R22 U4
2

2
3.4k 1% TSV991ILT

2
R23 13k 1%
R25 13k 1% R24
C24 13k 1%
C25 N.M. 100pF C26
N.M. 100pF N.M. 100pF

External op-amp

+3v3 3V3

V-

Figure 21. STEVAL-ESC001V1 circuit schematic (4 of 4)

AUX POWER SUPPLY
U6
J5
L7986TR
+10V
38Vmax 10
VCC10 1
LPS4018-333MR Coilcraft
33uH/0.5A
1
OUT1
V+ 9
VCC9
L1 33uH
0.5A CON1
C28 8 OUT2
2
POWER SECTION
220nF 11 GND 3 C27
V- EP SYNC J6
3.9nF
7 4 R26 1 VIN+
1MHz Fsw EN R27 V+
4.7k 1%
C29 6 5 62
FB COMP R28 CON1
2

D3 D4 C31 1uF X7R

10uF, 50V STPS1L40M C30 TP11 1 2 C32 C35
22uF 25V TP10 TP CH1N 330uF,35V 330uF,35V C33 C34
C36 TP CH1 STPS0560Z 0 D6 D5 + +
V-
27pF R30 56 STL160N4F7 SMBJ26A-TR
1

R29 R31 U7 Q1 100nF 100V 100nF 100V

1

34.8k 1% R32 C37 300 1% 1 8 BAT30KFILM

TIM1_CH1N LIN BOOT
8.2k 4.7nF TIM1_CH1 2 7 R33 100
3 HIN HVG 6
+10V VCC OUT
4 5 R34
small signal GND LVG 10k
C38 C39 C40 L6398DTR
100pF 100pF 470nF X7R

D7
R35 56 R36
1
BAT30KFILM
R37 100
Q2
R38
STL160N4F7
BEC 5V, 0.5A D8
R39
10k C41
10nF
TP13 1 2 C42 1uF X7R
+10V +5V TP12 TP CH2N BAT30KFILM
TP CH2 Vshunt_1
U8 STPS0560Z 0
U9 LD1117S50 TR R41 LD39050PU33R +3v3 R40 56 STL160N4F7
1

3 2 +5V 0 6 5 U10 Q3
Vin Vout VIN NC 4
1

1 1 8 D9
GND EN VOUT TIM1_CH2N LIN BOOT
3 TIM1_CH2 2 7 R42 100
PG GND GND1 C43 3 HIN HVG 6
1 +10V VCC OUT
C46 1uF 4 5 R43
C44 C45 1uF 7 2 GND LVG 10k
100nF 10uF C47 C48 C49 L6398DTR Motor
100pF 100pF 470nF X7R
OUT1 3
D10 OUT2 2
R44 56 OUT3 1

BAT30KFILM R46 J7
R45 100 1
Q4
R47 STL160N4F7
R48
D11 10k
TP15 1 2 C50 1uF X7R C51
TP14 TP CH3N
TP CH3
PHASE SENSING CIRCUIT STPS0560Z 0
R49 56 D12 STL160N4F7
Vshunt_2 10nF
1

PHASE_1 U11 Q5
1

TIM1_CH3N 1 8 BAT30KFILM
2 LIN BOOT 7 R50 100
PHASE_2 TIM1_CH3 HIN HVG
3 6
+10V VCC OUT
PHASE_3 4 5 R51
GND LVG 10k
OUT1 R52 C52 C53 C54 L6398DTR
33k 1% 100pF 100pF 470nF X7R
OUT2 R53
33k 1%
OUT3 R54 R55 56 D13
33k 1%
R56 C55 C56 C57 BAT30KFILM R58
4.02k 1% R57 100nF 100nF 100nF R59 100 1
4.02k 1% Q6
R60 R61 STL160N4F7
4.02k 1% 10k
C58
Vshunt_3
10nF

+3v3
VIN+

R62 D14
SHUNT RESISTOR
Temperature feedback
BAT30KFILM
169K 1% Vshunt_1 Vshunt_2 Vshunt_3
C59
+3v3 10nF 10V VBUS_SENS
VBUS
R63 R64 R66 R67
1 2 R65 0.010 3W 0.010 3W 0.010 3W
4.7k Vshunt_1_GND Vs h u n t _ 2 _ GND Vs h u n t _ 3 _ GND
NTC 10K R68 C60
4.7nF 10V
18K 1%

VBUS

UM2197 - Rev 2 page 17/26

 UM2197
Bill of materials

5 Bill of materials

Table 4. STEVAL-ESC001V1 bill of materials

Item Q.ty Ref. Part / Value Description Manufacturer Order code

C1, C2, C5, C8, C10

C12, C13, C14, C18 100 nF 25 V
1 15 Ceramic capacitor any
C19, C23, C44, C55 ±10% X7R

C56, C57
1 nF 50 V
2 3 C3, C4, C11 Ceramic capacitor any
±10% X7R
4.7 µF 10 V
3 1 C6 Ceramic capacitor Murata GRM188R61A475KE15D
±10% X5R
10 nF 50 V
4 2 C7, C59 Ceramic capacitor any
±10% X7R
1 µF 16 V
5 3 C9, C43, C46 Ceramic capacitor TDK C1608X7R1C105K080AC
±10% X7R
15 nF 10 V
6 3 C15, C16, C17 Ceramic capacitor any
±10% X7R
680 pF 10 V
7 3 C20, C21, C22 Ceramic capacitor any
±5% C0G
Capacitors (not
8 3 C24, C25, C26 100 pF ±0%
mounted)
3.9 nF 50 V
9 1 C27 Ceramic capacitor any
±10% X7R
220 nF 50 V
10 1 C28 Ceramic capacitor any
±10% X7R
10 µF 50 V
11 1 C29 Ceramic capacitor any
±10% X5R
22 µF 25 V
12 1 C30 Ceramic capacitor any
±10% X5R
1 µF X7R 50 V
13 3 C31, C42, C50 Ceramic capacitor any
±10%
330 µF,35 V
14 2 C32, C35 Electrolytic capacitor Rubycon 35ZLH330MEFC10X12.5
±20%
100 nF 100 V
15 2 C33, C34 Ceramic capacitor any
±10% X7R
27 pF 50 V
16 1 C36 Ceramic capacitor any
±5% C0G
4.7 nF 16 V
17 2 C37, C60 Ceramic capacitor any
±10% X7R
C38, C39, C47 100 pF 16 V
18 6 Ceramic capacitor any
C48, C52, C53 ±10% X7R

470 nF 25 V
19 3 C40, C49, C54 Ceramic capacitor any
±10% X7R
10 nF 100 V
20 3 C41, C51, C58 Ceramic capacitor any
±10% X7R
10 µF 25 V
21 1 C45 Ceramic capacitor Murata GRM21BR61E106KA73L
±10% X7R

UM2197 - Rev 2 page 18/26

 UM2197
Bill of materials

Item Q.ty Ref. Part / Value Description Manufacturer Order code

22 1 D1 Red LED Lite-on LTST-C193KRKT-5A

23 1 D2 Red LED Lite-on LTST-C193KGKT-5A
Low drop power
24 1 D3 40 V 1 A ST STPS1L40M
Schottky diode
Power Schottky
25 3 D4, D8, D11 60V/0.5A ST STPS0560Z
diode
26 1 D5 Transil ST SMBJ26A-TR
D6, D7, D9, D10
27 7 30V, 0.3A Schottky diode ST BAT30KFILM
D12, D13, D14
CAN, UART: 4 WAYS
28 2 J1, J2 STRIP LINE - MALE any
1.27mm
PWM INPUT: 3 way
29 1 J3
wires welding
SWD: 4-way strip line
30 1 J4 any
- male 2.54mm
CON1 - Input power
31 2 J5, J6 connector: 1-way
wire welding
Motor Connetor: 3-
32 1 J7
way wire welding
33 1 L1 33 µH 0.5 A Power inductor Coilcraft LPS4018-333MRB

Q1, Q2, Q3 30 V, 160 A STL160NS3LLH7

34 6 Power MOSFETs ST
Q4, Q5, Q6 40 V, 160 A STL160N4F7
R1, R5, R28 0 62.5 mW
35 6 SMD resistor any
R39, R41, R48 ±5%

120 62.5 mW
36 1 R2 SMD resistor any
±5%
10 k 62.5 mW
37 1 R3 SMD resistor any
±5%
220 62.5 mW
38 1 R4 SMD resistor any
±5%
39 1 R6 62.5 mW ±5% SMD resistor any
510 62.5 mW
40 2 R7, R8 SMD resistor any
±5%
33 K 62.5 mW
41 1 R9 SMD resistor any
±5%
680 62.5 mW
42 3 R10, R11, R12 SMD resistor any
±5%
5.9 K 62.5 mW
43 1 R13 SMD resistor any
±5%
8.06 k 62.5
44 3 R14, R15, R16 SMD resistor Vishay CRCW04028K06FKED
mW ±1%
787 62.5 mW
45 3 R17, R19, R20 SMD resistor Panasonic ERJ2RKF7870X
±1%
3.4 k 62.5 mW
46 3 R18, R21, R22 SMD resistor Panasonic ERJ2RKF3401X
±1%

UM2197 - Rev 2 page 19/26

 UM2197
Bill of materials

Item Q.ty Ref. Part / Value Description Manufacturer Order code

13 k 62.5 mW
47 2 R23, R24, R25 SMD resistor any
±1%
4.7 k 62.5 mW
48 1 R26 SMD resistor any
±1%
4.7 k 62.5 mW
49 1 R65 SMD resistor any
±5%
62 62.5 mW
50 1 R27 SMD resistor any
±1%
34.8 k 62.5
51 1 R29 SMD resistor any
mW ±1%
R30, R35, R40
52 6 56 0.1 W ±5% SMD resistor any
R44, R49, R55
300 62.5 mW
53 1 R31 SMD resistor any
±1%
8.2 k 62.5 mW
54 1 R32 SMD resistor any
±1%
R33, R37, R42 100 0.1 W
55 6 SMD resistor any
R45, R50, R59 ±5%

R34, R38, R43 10 k 0.1 W

56 6 SMD resistor any
R47, R51, R61 ±5%

1 0.125 W
57 3 R36, R46, R58 SMD resistor any
±5%
33 k 0.1 W
58 3 R52, R53, R54 SMD resistor any
±1%
4.02 k 62.5
59 3 R56, R57, R60 SMD resistor any
mW ±1%
169 K 62.5
60 1 R62 SMD resistor any
mW ±1%
NTC 10 K
61 1 R63 NTC Thermistor TDK NTCG103JF103F
±1%

10 mOhm shunt Bourns CRA2512-FZ-R010ELF

62 3 R64, R66, R67 0.01 3 W ±1%
resistor KOA Speer TLR3APDTE10L0F50
18 K 62.5 mW
63 1 R68 SMD resistor any
±1%
TP1, TP2, TP3, TP4
TP5, TP6, TP7, TP8
SMD PAD 1
64 1 TP9, TP10, TP11 Test point any
mm ±0%
TP12, TP13, TP14
TP15
65 1 U1 CAN transceiver TI SN65HVD230D
66 1 U2 32bit MCU ST STM32F303CBT7
Rail-to-rail input/
67 3 U3, U4, U5 output 20 MHz GBP ST TSV991ILT
operational amplifiers
3 A step-down
68 1 U6 ST L7986TR
switching regulator
High voltage high
69 3 U7, U10, U11 ST L6398D
and low-side driver

UM2197 - Rev 2 page 20/26

 UM2197
Bill of materials

Item Q.ty Ref. Part / Value Description Manufacturer Order code

Low drop vo ltage

70 1 U8 ST LD39050PU33R
regulator
Low drop vo ltage
71 1 U9 ST LD1117S50TR
regulator
72 1 X1 Resonators 8 Mhz Murata CSTCE8M00G55-R0

UM2197 - Rev 2 page 21/26

 UM2197

Revision history

Table 5. Document revision history

Date Version Changes

07-Apr-2017 1 Initial release.

Updated Introduction and Section 5 Bill of materials.
13-Nov-2018 2
Added references to STL160N4F7.

UM2197 - Rev 2 page 22/26

 UM2197
Contents

Contents
1 Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
1.1 Target application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
2.1 STEVAL-ESC001V1 hardware overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1.1 STEVAL-ESC001V1 top side components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2.1.2 STEVAL-ESC001V1 bottom side components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2.1.3 Board dimensions (29.1 x 58 mm). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2.2 Communication, programming and command interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.3 STM32 pinout for motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3 Initializing and using the STEVAL-ESC001V1 ESC board . . . . . . . . . . . . . . . . . . . . . . . . . .10

4 Schematic diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
5 Bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22

UM2197 - Rev 2 page 23/26

 UM2197
List of figures

List of figures
Figure 1. STEVAL-ESC001V1 evaluation board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Figure 2. STEVAL-ESC001V1 target applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Figure 3. System structure overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Figure 4. Typical quadcopter architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Figure 5. STEVAL-ESC001V1 block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Figure 6. Top side features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Figure 7. Bottom side features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Figure 8. STEVAL-ESC001V1 board dimensions (not including capacitors) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Figure 9. UART TX/RX (3v3 level) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Figure 10. STEVAL-ESC001V1 connection for MCU programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Figure 11. Sample SWD configuration on IAR tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 12. STEVAL-ESC001V1 input/output connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 13. ST MC Workbench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 14. ST MC Workbench – electrical motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Figure 15. ST MC Workbench – startup parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Figure 16. IAR tool select, compile and upload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Figure 17. PWM input signal for motor speed regulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Figure 18. STEVAL-ESC001V1 circuit schematic (1 of 4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Figure 19. STEVAL-ESC001V1 circuit schematic (2 of 4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Figure 20. STEVAL-ESC001V1 circuit schematic (3 of 4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Figure 21. STEVAL-ESC001V1 circuit schematic (4 of 4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

UM2197 - Rev 2 page 24/26

 UM2197
List of tables

List of tables
Table 1. Main STM32 pinout for motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Table 2. Input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Table 3. Relationship between the STEVAL board SWD pinout and SWD on ST-Link/V2 programmer. . . . . . . . . . . . . . . 10
Table 4. STEVAL-ESC001V1 bill of materials. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Table 5. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

UM2197 - Rev 2 page 25/26

 UM2197

IMPORTANT NOTICE – PLEASE READ CAREFULLY

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UM2197 - Rev 2 page 26/26