Actualiser Article_Scientifique/main.tex

Article_Scientifique/main.tex

@@ -290,73 +290,83 @@ challenging.
 
 \subsection{Pin Compatibility Verification: L476 vs F405}
 
-Before modifying the PCB, a thorough pin compatibility check was 
+Before starting the PCB modifications, a pin compatibility study was carried out between the STM32L476 
-performed between the STM32L476 and the STM32F405 
+used on the Rocacher tile and the STM32F405 originally used in the Cheap FOCer-2 design. The objective 
-(original Cheap FOCer-2 design). The following aspects were examined:
+was to verify that the main functions required by the VESC firmware could still be used after replacing
+the original microcontroller.
+
+The verification mainly focused on:
 \begin{itemize}
-    \item Physical pinout in LQFP64 package.
+    \item Physical pinout compatibility in the LQFP64 package,
-    \item Alternate functions for PWM timers.
+    \item PWM timer for Alternate functions,
-    \item USB DP/DM pins (PA11/PA12).
+    \item USB DP/DM pins (PA11/PA12),
-    \item Analog inputs for current sensing.
+    \item Analog inputs for current sensing,
-    \item UART for BLE communication.
+    \item UART communication for BLE integration.
 \end{itemize}
 
-Three pin conflicts were identified and resolved as follows.
+During this analysis, three main pin conflicts were identified.
 
-First, the SPI\_MISO function on PA6 for the STM32F405 conflicts with a 
+The first conflict concerned the SPI\_MISO signal on pin PA6. In the original STM32F405 design, this pin is 
-DAC output on the same pin for the STM32L476 tile. Since this pin is 
+used for SPI communication related to current sensing. On the STM32L476 tile, the same pin is associated with 
-used for current sensing via SPI in the original Cheap FOCer-2 design, 
+a DAC output, creating a functional conflict. To solve this issue, the SPI communication line was remapped 
-the SPI communication was remapped to PA5 on the L476, which provides a 
+to PA5 on the L476, which offers a compatible alternate function.
-compatible alternate function.
 
-Second, the gate driver enable signal (EN\_GATE) was originally assigned 
+The second issue concerned the EN\_GATE signal. In the original design, this signal was connected to PB5 on
-to PB5 on the F405. This pin is not accessible on the L476 
+the STM32F405. However, this pin is not accessible on the L476 tile. The signal was therefore moved to PC5, 
-tile. The signal was therefore moved to PC5, which is available and 
+configured as a standard GPIO output.
-can be configured as a standard GPIO output.
 
-Third, Hall sensor C was originally connected to PC8 (TIM8) on the F405. 
+Finally, Hall sensor C was originally connected to PC8 (TIM8) on the STM32F405. Since this pin is not available 
-This pin is not available on the L476 tile. The Hall sensor input was 
+on the tile connector, the Hall sensor input was reassigned to PB3 using the TIM2\_CH2 alternate function, 
-therefore reassigned to PB3, configured as TIM2\_CH2, which provides 
+which preserves the input capture capability required for Hall sensor decoding.
-the necessary input capture functionality for Hall signal decoding.
 
-All other critical functions (PWM timers, complementary PWM, enable 
+All other important functions remained compatible between the two microcontrollers, including PWM generation,
-signals, encoder inputs, UART, USB, and CAN) remain fully compatible 
+complementary PWM outputs, encoder inputs, UART, USB, and CAN communication. Some differences between the ADC 
-between the two microcontrollers. The ADC channel differences between 
+peripherals of the STM32F405 and STM32L476 still remain and will require firmware adaptations in future work.
-the F405 (ADC123/ADC12) and the L476 (ADC3) must still be handled in 
-firmware, as noted previously.
 
 \subsection{Schematic Design and KiCad Implementation}
 
-The original Cheap FOCer-2 schematic was modified in KiCad to replace the 
+The original Cheap FOCer-2 schematic was modified in KiCad in order to replace the integrated STM32F405 
-integrated F405 with connectors for the L476 tile. The main modifications 
+microcontroller with connectors for the Rocacher STM32L476 tile. The objective was to make the control part more 
-included:
+modular and easier to replace without modifying the power stage of the board.
+
+The main modifications performed on the schematic were:
 \begin{itemize}
-    \item Removal of the F405 and its associated passive components.
+    \item Removal of the STM32F405 and its associated passive components.
-    \item Addition of two 20-pin headers to receive the Rocacher tile.
+    \item Addition of two 20-pin headers for the L476 tile connection.
-    \item Re-routing of PWM, ADC, and USB signals to the headers.
+    \item Re-routing of PWM, ADC, USB, and communication signals toward the headers.
 \end{itemize}
 
-The schematic passed Electrical Rule Check (ERC) with no errors. 
+Special attention was given to the routing of critical control signals, especially the PWM outputs used for 
+motor commutation and the analog signals used for current sensing.
+
+After the modifications, the schematic was verified using the KiCad Electrical Rule Check (ERC). No electrical 
+errors were detected during this verification step, which validated the consistency of the schematic before 
+starting the PCB routing phase. 
 
 \subsection{Routing Challenges and Current Status}
 
-The PCB layout was then started. The original Cheap FOCer-2 routing is 
+After validating the schematic, the PCB routing phase was started in KiCad. The original Cheap FOCer-2 board 
-very dense. Inserting connectors for the removable tile while maintaining signal integrity proved 
+uses a very compact layout with dense routing around the STM32F405 microcontroller and the power stage. 
-difficult.
+Integrating connectors for a removable STM32L476 tile introduced several additional routing constraints.
 
-The main issues encountered were:
+One of the main difficulties was maintaining proper signal routing while keeping enough space for the tile 
+connectors and preserving the integrity of the control signals. Particular attention had to be given to the PWM 
+signals, current sensing traces, and power connections.
+
+Several issues were encountered during the routing process:
 \begin{itemize}
-    \item Some footprints for the tile connectors did not appear correctly 
+    \item Some connector footprints associated with the tile did not appear correctly after importing the schematic 
-    in the layout after schematic import.
+    into the PCB layout.
-    \item Routing of high-current paths (battery, motor phases) around the 
+    \item The routing of high-current paths, especially the battery and motor phase connections, become more complex 
-    connectors required additional vias, increasing resistance.
+    due to the additional connectors and required extra vias.
-    \item Decoupling capacitors had to be repositioned, raising concerns 
+    \item Some Decoupling capacitors had to be repositioned, which could potentially affect switching noise and power
-    about switching noise.
+     supply stability.
 \end{itemize}
 
-Currently, the schematic is validated, and the layout is under 
+
-development. Once routing is completed, the board will be manufactured 
+At the current stage of the project, the schematic has been validated and the PCB layout is still under development. 
-and tested with the VESC firmware adapted to the L476 tile.
+Once the routing is completed, the board will be manufactured and tested using the VESC firmware adapted for the 
+STM32L476 tile.
 
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