6 steps commutation of stm32g413 kit for drones (arduino platform)

main_6_step.cpp

// Discussed here: https://community.simplefoc.com/t/motor-driver-st-ihm08m1-6pwm/131/9?u=owen_williams
// youtube vid here: https://youtu.be/U1_6f7bK6rI
#include <Arduino.h>

#define STATUS_LED PC6
#define POT PB12

#define TX PB3
#define RX PB4

#define MOT1_OUT_H PA8
#define MOT2_OUT_H PA9
#define MOT3_OUT_H PA10
#define MOT1_OUT_L PC13
#define MOT2_OUT_L PA12
#define MOT3_OUT_L PB15

#define MOT1_SENSE_H PA1
#define MOT2_SENSE_H PA7
#define MOT3_SENSE_H PB0
#define MOT1_SENSE_L PA3
#define MOT2_SENSE_L PA5
#define MOT3_SENSE_L PB2


HardwareSerial Serial1(RX, TX);

int duty_cycle = 80;

void setup() {
  Serial1.begin(115200);

  pinMode(MOT1_OUT_H, OUTPUT);
  pinMode(MOT2_OUT_H, OUTPUT);
  pinMode(MOT3_OUT_H, OUTPUT);
  pinMode(MOT1_OUT_L, OUTPUT);
  pinMode(MOT2_OUT_L, OUTPUT);
  pinMode(MOT3_OUT_L, OUTPUT);

  pinMode(STATUS_LED, OUTPUT);
  pinMode(POT, INPUT);
}

void setPWM(int m1_h, int m2_h, int m3_h, int m1_l, int m2_l, int m3_l) {
  Serial1.printf("%d\t%d\t%d\t%d\t%d\t%d\t", m1_h, m2_h, m3_h, m1_l, m2_l, m3_l);
  analogWrite(MOT1_OUT_H, m1_h);
  analogWrite(MOT2_OUT_H, m2_h);
  analogWrite(MOT3_OUT_H, m3_h);
  analogWrite(MOT1_OUT_L, m1_l);
  analogWrite(MOT2_OUT_L, m2_l);
  analogWrite(MOT3_OUT_L, m3_l);
}

void steps(int delayMillis) {
  digitalWrite(STATUS_LED, HIGH);
  
  setPWM(duty_cycle, 0, 0, 0, duty_cycle, 0);
  Serial1.println("M2- M1+");
  delay(delayMillis);
  
  setPWM(duty_cycle, 0, 0, 0, 0, duty_cycle);
  Serial1.println("M1+ M3-");
  delay(delayMillis);

  setPWM(0, duty_cycle, 0, 0, 0, duty_cycle);
  Serial1.println("M3- M2+");
  delay(delayMillis);

  digitalWrite(STATUS_LED, LOW);
  setPWM(0, duty_cycle, 0, duty_cycle, 0, 0);
  Serial1.println("M2+ M1-");
  delay(delayMillis);

  setPWM(0, 0, duty_cycle, duty_cycle, 0, 0);
  Serial1.println("M1- M3+");
  delay(delayMillis);

  setPWM(0, 0, duty_cycle, 0, duty_cycle, 0);
  Serial1.println("M3+ M2-");
  delay(delayMillis);

}

int step = 0;

void loop() {
  int pot = analogRead(POT);
  int delaySpeed = map(pot, 0, 1023, 10,500);
  Serial1.println();
  Serial1.print("delay: ");
  Serial1.println(delaySpeed);

  steps(delaySpeed);
}