Why is ESC not starting the DC motor?

[M7890.1]

Hi, I am using the code below to spin my brushless DC motor. When I used another code where I have a potentiometer to vary the motor speed, the motor spins without problem so I don't think the DC motor and ESC are faulty. Is there something wrong with my code? Am I starting the PWM at wrong time?

I have checked the PWM generated by this code. The signal is there.

main() function:

int main(void) {
	/* USER CODE BEGIN 1 */
	char data[20] = { '\0' };
	uint8_t controller_cnt = 0;	// default is P controller
	char controller = 'P';
	uint8_t row = 0;
 
	const uint8_t coef_origin[3] = { 11, 2, 10 };
	uint8_t coef_loc[3] = { 11, 2, 10 };
	/* USER CODE END 1 */
 
	/* MCU Configuration--------------------------------------------------------*/
 
	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
	HAL_Init();
 
	/* USER CODE BEGIN Init */
 
	/* USER CODE END Init */
 
	/* Configure the system clock */
	SystemClock_Config();
 
	/* USER CODE BEGIN SysInit */
 
	/* USER CODE END SysInit */
 
	/* Initialize all configured peripherals */
	MX_GPIO_Init();
	MX_I2C1_Init();
	MX_TIM2_Init();
	MX_USART2_UART_Init();
	MX_TIM3_Init();
	/* USER CODE BEGIN 2 */
	lcd_init();
 
	mpu6050_init();
	HAL_Delay(500);
	mpu6050_calc_offset();
 
	lcd_put_cur(0, 0);
	sprintf(data, "Tuning:%c P:%05.2f", controller, pid_coef[0]);
	lcd_send_string(data);
	lcd_put_cur(1, 0);
	sprintf(data, "I:%05.2f D:%05.2f", pid_coef[1], pid_coef[2]);
	lcd_send_string(data);
 
	lcd_put_cur(row, coef_loc[controller_cnt]);
 
	HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);	// start PWM signal
	HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
 
	HAL_TIM_Base_Start_IT(&htim3);
 
	/* USER CODE END 2 */
 
	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	while (1) {
		/* USER CODE END WHILE */
 
		/* USER CODE BEGIN 3 */
		// Change controller_cnt
		if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_12)) {
			if (controller_cnt < 2)
				controller_cnt++;
			else
				controller_cnt = 0;
 
			switch (controller_cnt) {
			case 0:
				controller = 'P';
				break;
			case 1:
				controller = 'I';
				break;
			case 2:
				controller = 'D';
				break;
			}
 
			// move cursor and record cursor position
			if (controller_cnt == 0)
				row = 0;
			else
				row = 1;
 
			lcd_put_cur(row, coef_origin[controller_cnt]);
			coef_loc[controller_cnt] = coef_origin[controller_cnt];
 
			lcd_clear();
			lcd_put_cur(0, 0);
			sprintf(data, "Tuning:%c P:%05.2f", controller, pid_coef[0]);
			lcd_send_string(data);
			lcd_put_cur(1, 0);
			sprintf(data, "I:%05.2f D:%05.2f", pid_coef[1], pid_coef[2]);
			lcd_send_string(data);
 
			lcd_put_cur(row, coef_loc[controller_cnt]);
			HAL_Delay(150);
		}
 
		// Up
		if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_13)) {
			switch (coef_loc[controller_cnt] - coef_origin[controller_cnt]) {
			case 0:
				if (pid_coef[controller_cnt] <= 89.99)
					pid_coef[controller_cnt] += 10.00;
				break;
 
			case 1:
				if (pid_coef[controller_cnt] <= 98.99)
					pid_coef[controller_cnt] += 1.00;
				break;
 
			case 3:
				if (pid_coef[controller_cnt] <= 99.89)
					pid_coef[controller_cnt] += 0.10;
				break;
 
			case 4:
				if (pid_coef[controller_cnt] <= 99.98)
					pid_coef[controller_cnt] += 0.01;
				break;
			}
 
			lcd_clear();
			lcd_put_cur(0, 0);
			sprintf(data, "Tuning:%c P:%05.2f", controller, pid_coef[0]);
			lcd_send_string(data);
			lcd_put_cur(1, 0);
			sprintf(data, "I:%05.2f D:%05.2f", pid_coef[1], pid_coef[2]);
			lcd_send_string(data);
 
			lcd_put_cur(row, coef_loc[controller_cnt]);
			HAL_Delay(150);
		}
 
		// Down
		if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_14)) {
			switch (coef_loc[controller_cnt] - coef_origin[controller_cnt]) {
			case 0:
				if (pid_coef[controller_cnt] >= 10.00)
					pid_coef[controller_cnt] -= 10.00;
				break;
 
			case 1:
				if (pid_coef[controller_cnt] >= 1.00)
					pid_coef[controller_cnt] -= 1.00;
				break;
 
			case 3:
				if (pid_coef[controller_cnt] >= 0.10)
					pid_coef[controller_cnt] -= 0.10;
				break;
 
			case 4:
				if (pid_coef[controller_cnt] >= 0.01)
					pid_coef[controller_cnt] -= 0.01;
				break;
			}
 
			lcd_clear();
			lcd_put_cur(0, 0);
			sprintf(data, "Tuning:%c P:%05.2f", controller, pid_coef[0]);
			lcd_send_string(data);
			lcd_put_cur(1, 0);
			sprintf(data, "I:%05.2f D:%05.2f", pid_coef[1], pid_coef[2]);
			lcd_send_string(data);
 
			lcd_put_cur(row, coef_loc[controller_cnt]);
			HAL_Delay(150);
		}
 
		// Left
		if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_15)) {
			if (coef_loc[controller_cnt] > coef_origin[controller_cnt]) {
				coef_loc[controller_cnt] -= 1;
				lcd_send_cmd(0x10);
			}
 
			lcd_clear();
			lcd_put_cur(0, 0);
			sprintf(data, "Tuning:%c P:%05.2f", controller, pid_coef[0]);
			lcd_send_string(data);
			lcd_put_cur(1, 0);
			sprintf(data, "I:%05.2f D:%05.2f", pid_coef[1], pid_coef[2]);
			lcd_send_string(data);
 
			lcd_put_cur(row, coef_loc[controller_cnt]);
			HAL_Delay(150);
		}
 
		// Right
		if (HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_8)) {
			if (coef_loc[controller_cnt] < coef_origin[controller_cnt] + 4) {
				coef_loc[controller_cnt] += 1;
				lcd_send_cmd(0x14);
			}
 
			lcd_clear();
			lcd_put_cur(0, 0);
			sprintf(data, "Tuning:%c P:%05.2f", controller, pid_coef[0]);
			lcd_send_string(data);
			lcd_put_cur(1, 0);
			sprintf(data, "I:%05.2f D:%05.2f", pid_coef[1], pid_coef[2]);
			lcd_send_string(data);
 
			lcd_put_cur(row, coef_loc[controller_cnt]);
			HAL_Delay(150);
		}
 
	}
	/* USER CODE END 3 */
}

Timer callback:

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim) {
	float error;
	static float past_error;
	float roll_pid_p;
	static float roll_pid_i = 0;
	float roll_pid_d;
	float roll_pid;
 
	uint16_t left_pwm, right_pwm;
 
	const uint16_t max_pwm = 1800;
	const uint16_t thrust = 1300;
 
	mpu6050_read_data();
	mpu6050_calc_angle();
 
	// COMPUTE PID
	error = comp_roll - 0;	// setpoint = 0
 
	roll_pid_p = pid_coef[0] * error;
	roll_pid_i = roll_pid_i + pid_coef[1] * error;
	roll_pid_d = pid_coef[2] * ((error - past_error) / 0.02);// 0.02 is update rate
 
	roll_pid = roll_pid_p + roll_pid_i + roll_pid_d;
 
	past_error = error;
 
	// compute PWM pulse width
	left_pwm = thrust - (int) roll_pid;
	right_pwm = thrust + (int) roll_pid;
 
	if (left_pwm > 1800)
		left_pwm = 1800;
	else if (left_pwm < 1200)
		left_pwm = 1200;
 
	if (right_pwm > 1800)
		right_pwm = 1800;
	else if (right_pwm < 1200)
		right_pwm = 1200;
 
	uint16_t ccr1 = (uint16_t) ((((float)left_pwm / 1000000) / 0.02) * 65535);
	uint16_t ccr2 = (uint16_t) ((((float)right_pwm / 1000000) / 0.02) * 65535);
 
	TIM2->CCR1 = ccr1;
	TIM2->CCR2 = ccr2;
}

[Laurent Ca...]

Dear @M7890.1​ 

Welcome to the STM32 Community

Sorry for late answer.

Could you give more details to the STM32 Community about your setup -the material you use- ?

(HW and also SW: CPU(s), tools and versions, board(s), motor(s) and so on)

And more especially did you use STM32 MC tools (such as MC_suite, STM32 MC Motor Profile, STM32 MC SDK, STM32 MC Workbench, the used example, the origin of the base of your application source code, and so on)?

Best regards