Quad BLDC Drone ESC Design

flux

Added the ESC-side power input interface:
  • J21: Würth REDCUBE M5 lug for PM_6S_PROTECTED
  • J22: Würth REDCUBE M5 lug for GND
  • J23: 5-pin low-current header for 3V3_A and GND, with one spare pin marked no-connect
Focused ERC/connectivity check found no new issues for J21–J23.
gunny590

gunny590

Define the SPI mezzanine pinout between the ESC and flight controller with spare pins.

flux

I’ll define a practical SPI mezzanine pinout for the stacked ESC ↔ flight-controller interface with grounds, reset/fault lines, temperature telemetry support, and spare pins, then record it in the project notes/spec.

flux

Defined the ESC ↔ flight-controller mezzanine pinout in Project Specification.
Summary:
  • 60-pin ERM8/ERF8-style pinout.
  • Shared SPI bus with separate CS/INT/FAULT/RESET/READY for STM32 U1 and U2.
  • Includes heartbeat, sync, arm/safe lines, 18 ground pins, and 18 spare/reserved pins.
  • High-current 6S power stays off the mezzanine connector.
Add mezzanine connector
Assign MCU pins
Run full ERC
Review connector sourcing
Prepare PCB placement

Refine this doc
Ask about this doc
Firmware Starter — Dual STM32G474 + 4× DRV8308
Platform & Toolchain
  • MCU: 2 × STM32G474CBT6
  • Framework: STM32 HAL / STM32CubeIDE
  • Status: Preliminary, because final MCU pin assignments to DRV8308 SPI/control/fault nets are not yet wired.
Current Hardware Partition

Table

MCUMotor ChannelsDRV8308sRole
U1M1, M2U3, U4Configure/control front two DRV8308 channels
U2M3, M4U5, U6Configure/control rear two DRV8308 channels
Required Firmware-Controlled Signals Per DRV8308

Table

FunctionDRV8308 PinFirmware Use
SPI SCLKSCLKRegister configuration
SPI CSSCSPer-driver chip select
SPI MOSISDATAIRegister write
SPI MISOSDATAORegister readback
Speed commandCLKINPWM/frequency speed command
DirectionDIRMotor direction
EnableENABLEHardware motor enable
BrakeBRAKEBraking command/failsafe
ResetRESETDriver reset
FaultFAULTnFault interrupt/input
Lock/statusLOCKnSpeed lock/status input
Speed feedbackFGOUTOptional timer input capture
Pin Mapping
Final STM32 pin mapping is TBD. The schematic currently contains the main ICs and Hall/motor connectors, but MCU-to-DRV control nets are intentionally not finalized until the flight-controller interface and firmware strategy are chosen.
Minimal HAL Structure
C
#include "main.h"
#include <stdint.h>
#include <stdbool.h>

SPI_HandleTypeDef hspi1;
TIM_HandleTypeDef htim1;

#define DRV_COUNT 2

typedef struct {
    GPIO_TypeDef *cs_port;
    uint16_t cs_pin;
    GPIO_TypeDef *enable_port;
    uint16_t enable_pin;
    GPIO_TypeDef *brake_port;
    uint16_t brake_pin;
    GPIO_TypeDef *fault_port;
    uint16_t fault_pin;
} drv8308_t;

static drv8308_t drv[DRV_COUNT];

static uint16_t drv8308_transfer(uint8_t idx, uint16_t word) {
    uint8_t tx[2] = { (uint8_t)(word >> 8), (uint8_t)(word & 0xFF) };
    uint8_t rx[2] = {0};
    HAL_GPIO_WritePin(drv[idx].cs_port, drv[idx].cs_pin, GPIO_PIN_RESET);
    HAL_SPI_TransmitReceive(&hspi1, tx, rx, 2, HAL_MAX_DELAY);
    HAL_GPIO_WritePin(drv[idx].cs_port, drv[idx].cs_pin, GPIO_PIN_SET);
    return ((uint16_t)rx[0] << 8) | rx[1];
}

static void drv8308_write_baseline_open_loop(uint8_t idx) {
    const uint16_t cfg[][2] = {
        {0x00, 0x0911}, {0x01, 0x0000}, {0x02, 0x04FF}, {0x03, 0x6800},
        {0x04, 0x40D2}, {0x05, 0x0000}, {0x06, 0x0000}, {0x07, 0x0000},
        {0x08, 0x0000}, {0x09, 0x0000}, {0x0A, 0xF000}, {0x0B, 0x0000}
    };
    for (uint32_t i = 0; i < sizeof(cfg)/sizeof(cfg[0]); i++) {
        uint16_t word = (uint16_t)((cfg[i][0] << 12) | (cfg[i][1] & 0x0FFF));
        (void)drv8308_transfer(idx, word);
    }
}

static void drv8308_enable(uint8_t idx, bool en) {
    HAL_GPIO_WritePin(drv[idx].enable_port, drv[idx].enable_pin, en ? GPIO_PIN_SET : GPIO_PIN_RESET);
}

int main(void) {
    HAL_Init();
    SystemClock_Config();
    MX_GPIO_Init();
    MX_SPI1_Init();
    MX_TIM1_Init();

    for (uint8_t i = 0; i < DRV_COUNT; i++) {
        drv8308_enable(i, false);
        drv8308_write_baseline_open_loop(i);
    }

    while (1) {
        for (uint8_t i = 0; i < DRV_COUNT; i++) {
            if (HAL_GPIO_ReadPin(drv[i].fault_port, drv[i].fault_pin) == GPIO_PIN_RESET) {
                drv8308_enable(i, false);
            }
        }
        HAL_Delay(1);
    }
}
Open Firmware Items
  • Assign actual STM32 GPIOs for each DRV8308 control/status pin.
  • Select inter-MCU link: FDCAN, SPI, or UART.
  • Select flight-controller interface: PWM, DShot, CAN, UART, or SPI.
  • Define arming, throttle ramp, fault latch, and failsafe behavior.
  • Confirm whether DRV8308 registers are configured by SPI on every boot, external EEPROM, or OTP.

  • Platform & Toolchain

  • Current Hardware Partition

  • Required Firmware-Controlled Signals Per DRV8308

  • Pin Mapping

  • Minimal HAL Structure

  • Open Firmware Items

Interceptor 3948 thumbnail
Quad BLDC Drone interceptor with dual STM32G474 controllers, sensored motor feedback, and 22 V battery input.

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