motor_params/docs/MD_DRIVER_MAP.md

MD / Motor Driver Map

Status

No STM32G474CEU6 motor-driver files such as md.c, motor_driver.c, gate_driver.c, drv.c, inverter.c, pwm.c, or STM32 tim.c/adc.c/gpio.c were found in the current AD workspace.

The available motor-driver evidence is a C2000/TMS320 INU implementation under Inu_im_1wnd_3lvl/Inu.

A sibling STM32G474 candidate was found at F:\set\workspace\setcorp\set506\git_project\stm32g474\stm32g474_IHM08M\IHM08M, but it targets STM32G474RETx/NUCLEO-G474RE, not the requested STM32G474CEU6.

Driver pins

Function	STM32G474 status	Existing source evidence	Notes
Gate/PWM outputs	UNKNOWN/TODO	GPIO0..GPIO11 mapped to ePWM1A/B..ePWM6A/B in Inu/init28335.c:177..188	STM32 TIM channels must be extracted from .ioc when available
Driver enable	UNKNOWN/TODO	No explicit EN_GATE/DRV_EN STM32 pin found	Existing C2000 enables pulses by clearing Trip-Zone latch in pwm()
Driver fault	UNKNOWN/TODO	DI_24V_SOURCE_FAULT on C2000 GPIO50, active high	Real STM32 fault input must be documented from schematic/CubeMX
EEPROM/SPI CS	UNKNOWN/TODO	C2000 GPIO57 CS_SET/CS_CLEAR, SPIA on GPIO54..56	Exact external device UNKNOWN
Status LEDs	UNKNOWN/TODO	GPIO59..61 active-low LEDs	Board-specific, not motor-driver critical

PWM generation

Existing C2000 implementation:

• ePWM1..ePWM6 are initialized in SetupEpwm() in Inu/init28335.c.
• ePWM period uses T1_PRD derived from T_PWM.
• PWM compare registers are written in pwm() in Inu/upr.c:537..558.
• Dead-time uses DT in Inu/def.h.
• Emergency PWM disable uses Trip-Zone force TZFRC.all = 0x0004 in stop_inu() in Inu/isr.c:300..328.

STM32G474 TODO:

• Identify TIM1/TIM8 or other advanced timer instance.
• Identify complementary channels, dead-time, break input, BKIN polarity, off-state behavior.
• Verify that all PWM outputs remain disabled after reset and during ParamID default state.

Candidate STM32G474RETx project:

• TIM1 PWM is configured only for TIM_CHANNEL_1 with output pin PA7/TIM1_CH1N.
• MX_TIM1_Init() has DeadTime = 0, BreakState = TIM_BREAK_DISABLE, Break2State = TIM_BREAK2_DISABLE, AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE.
• Calls to HAL_Init(), SystemClock_Config(), MX_GPIO_Init(), and MX_TIM1_Init() are commented out in Core/Src/main.c, so the candidate firmware currently does not initialize peripherals at runtime.

ADC/current sense

Existing C2000 implementation:

Measurement	Existing source	Notes
DC-link voltage udc1	AdcMirror.ADCRESULT0, Inu/isr.c:37	Offset offset.Udc1, scale GAIN_UDC
Current ic1	AdcMirror.ADCRESULT2, Inu/isr.c:38	Offset offset.Ic1, scale GAIN_IAC
Current ia1	AdcMirror.ADCRESULT4, Inu/isr.c:39	Offset offset.Ia1, scale GAIN_IAC
Current ib1	AdcMirror.ADCRESULT6, Inu/isr.c:40	Offset offset.Ib1, scale GAIN_IAC

STM32G474 TODO:

• Identify ADC instances and channels from .ioc.
• Identify injected/regular conversion, DMA buffers, trigger timer, sampling time.
• Map ADC raw values into AD_Measurements_t.

Candidate STM32G474RETx project:

• No ADC module is enabled in stm32g4xx_hal_conf.h.
• No ADC pins/channels are configured in IHM08M.ioc.

Protection logic found

Protection	Existing implementation	Fault
Overcurrent	result.ia1/ib1/ic1 checked against protect.IacMax/IacMin in Inu/isr.c:97..101	faultNo = 22
DC-link undervoltage	udc1Nf < protect.UdcMin with debounce in Inu/isr.c:104..115	faultNo = 30
DC-link overvoltage	udc1Nf > protect.UdcMax in Inu/isr.c:121..123	faultNo = 24
Overspeed	wm > protect.WmMax with debounce in Inu/isr.c:126..137	faultNo = 32
+24 V supply fault	DI_24V_SOURCE_FAULT == 1 with debounce in Inu/isr.c:140..151	faultNo = 7
PWM shutdown	stop_inu() forces Trip-Zone and clears compare registers	Safe stop path

Missing or unverified protections

• STM32G474 hardware break input: UNKNOWN.
• Gate-driver fault polarity and latch behavior: UNKNOWN.
• Overtemperature source: UNKNOWN.
• Emergency stop pin: UNKNOWN.
• DC-link discharge/ready signal: UNKNOWN.
• Hardware overcurrent comparator/OPAMP/COMP chain: UNKNOWN.
• Watchdog strategy for STM32 project: UNKNOWN.

New safe software interlock

Core/Src/ad_parameter_identification.c adds:

• Compile-time default AD_PARAM_ID_ENABLE_POWER_TESTS = 0.
• Software enable gate via AD_ParamID_SetSoftwareEnable.
• Fault latch via AD_PARAM_ID_STATUS_FAULT_LATCHED.
• Emergency stop API AD_ParamID_EmergencyStop.
• Checks for measurement status flags and configured current/voltage/temperature/speed limits.
• Locked-rotor mode blocked unless AD_ParamID_SetLockedRotorAllowed(1) is called and power tests are compiled in.