README
======

The Nucleo-G431RB is a member of the Nucleo-64 board family.  The Nucleo-64
is a standard board for use with several STM32 parts in the LQFP64 package.

STATUS
======

  2020-06-12: The basic NSH configuration is now functional.

Configurations
==============

  ihm16m1_f32 and ihm16m1_b16:
  ----------------------------

    These examples are dedicated for the X-NUCLEO-IHM16M1 expansion board
    based on STSPIN830 driver for three-phase brushless DC motors.

    X-NUCLEO-IHM16M1 must be configured to work with FOC and 3-shunt
    resistors. See ST documentation for details.

    Pin configuration for the X-NUCLEO-IHM16M1 (TIM1 configuration):

    Board Function   Chip Function      Chip Pin Number
    -------------   ----------------   -----------------
    Phase U high     TIM1_CH1            PA8
    Phase U enable   GPIO_PB13           PB13
    Phase V high     TIM1_CH2            PA9
    Phase V enable   GPIO_PB14           PB14
    Phase W high     TIM1_CH3            PA10
    Phase W enable   GPIO_PB15           PB15
    EN_FAULT         GPIO_PB12           PB12
    Current U        GPIO_ADC1_IN2       PA1
    Current V        GPIO_ADC1_IN12      PB1
    Current W        GPIO_ADC1_IN15      PB0
    Temperature      ?                   PC4
    VBUS             GPIO_ADC1_IN1       PA0
    BEMF1            (NU)
    BEMF2            (NU)
    BEMF3            (NU)
    LED
    +3V3 (CN7_16)
    GND (CN7_20)
    GPIO_BEMF        (NU)
    ENCO_A/HALL_H1
    ENCO_B/HALL_H2
    ENCO_Z/HALL_H3
    GPIO1            (NU)
    GPIO2            (NU)
    GPIO3            (NU)
    CPOUT            (NU)
    BKIN1            (NU)
    POT              GPIO_ADC1_IN8       PC2
    CURR_REF         (NU)
    DAC              (NU)

    Current shunt resistance              = 0.33
    Current sense gain                    = -1.53 (inverted current)
    Vbus sense gain = 9.31k/(9.31k+169k)  = 0.0522124390107
    Vbus min                              = 7V
    Vbus max                              = 45V
    Iout max                              = 1.5A RMS

    IPHASE_RATIO = 1/(R_shunt*gain) = -1.98
    VBUS_RATIO   = 1/VBUS_gain      = 16

    For now only 3-shunt resistors configuration is supported.
