Removed unnecessary fillets, surfaces, and construction elements from each part; Eliminated duplicate parts; Restructured file and folder organization.
This commit is contained in:
parent
dcf22ec341
commit
328dd0e0aa
192 changed files with 130019 additions and 721896 deletions
5
controller/fw/embed/.gitignore
vendored
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5
controller/fw/embed/.gitignore
vendored
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.pio
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.vscode/.browse.c_cpp.db*
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.vscode/c_cpp_properties.json
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.vscode/launch.json
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.vscode/ipch
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20
controller/fw/embed/README.md
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20
controller/fw/embed/README.md
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# Встроенное ПО для сервипривода на STM32F446RE
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## Для разработки
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- [Установить platformio](#introduction)
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```bash
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pip install -U platformio
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```
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- [Скомпилировать проект](#build_project)
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```bash
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platformio run --environment robotroller_reborn
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```
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- [Загрузить прошивку](#upload_project)
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```bash
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platformio run --target upload --environment robotroller_reborn
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```
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- [Открыть монитор UART](#monitor_port)
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```bash
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platformio device monitor
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```
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299
controller/fw/embed/cubemx_config.ioc
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299
controller/fw/embed/cubemx_config.ioc
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#MicroXplorer Configuration settings - do not modify
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ADC2.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_15
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ADC2.Channel-5\#ChannelRegularConversion=ADC_CHANNEL_8
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ADC2.Channel-6\#ChannelRegularConversion=ADC_CHANNEL_9
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ADC2.EOCSelection=ADC_EOC_SEQ_CONV
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ADC2.IPParameters=Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,NbrOfConversionFlag,InjNumberOfConversion,NbrOfConversion,Rank-5\#ChannelRegularConversion,Channel-5\#ChannelRegularConversion,SamplingTime-5\#ChannelRegularConversion,Rank-6\#ChannelRegularConversion,Channel-6\#ChannelRegularConversion,SamplingTime-6\#ChannelRegularConversion,EOCSelection
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ADC2.InjNumberOfConversion=0
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ADC2.NbrOfConversion=3
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ADC2.NbrOfConversionFlag=1
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ADC2.Rank-1\#ChannelRegularConversion=1
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ADC2.Rank-5\#ChannelRegularConversion=2
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ADC2.Rank-6\#ChannelRegularConversion=3
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ADC2.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
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ADC2.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
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ADC2.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
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FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configTIMER_TASK_PRIORITY
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FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
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FREERTOS.configENABLE_FPU=1
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FREERTOS.configTIMER_TASK_PRIORITY=1
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File.Version=6
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GPIO.groupedBy=Group By Peripherals
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KeepUserPlacement=false
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Mcu.CPN=STM32F446RET6
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Mcu.Family=STM32F4
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Mcu.IP0=ADC2
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Mcu.IP1=FREERTOS
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Mcu.IP2=NVIC
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Mcu.IP3=RCC
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Mcu.IP4=SPI2
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Mcu.IP5=SYS
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Mcu.IP6=TIM1
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Mcu.IP7=TIM3
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Mcu.IP8=TIM5
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Mcu.IP9=USART1
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Mcu.IPNb=10
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Mcu.Name=STM32F446R(C-E)Tx
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Mcu.Package=LQFP64
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Mcu.Pin0=PC1
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Mcu.Pin1=PC5
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Mcu.Pin10=PC9
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Mcu.Pin11=PA8
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Mcu.Pin12=PA9
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Mcu.Pin13=PA10
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Mcu.Pin14=PA11
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Mcu.Pin15=PA12
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Mcu.Pin16=PA13
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Mcu.Pin17=PA14
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Mcu.Pin18=PC10
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Mcu.Pin19=PC11
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Mcu.Pin2=PB0
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Mcu.Pin20=PC12
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Mcu.Pin21=PD2
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Mcu.Pin22=PB6
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Mcu.Pin23=PB7
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Mcu.Pin24=VP_FREERTOS_VS_CMSIS_V2
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Mcu.Pin25=VP_SYS_VS_tim2
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Mcu.Pin26=VP_TIM1_VS_ClockSourceINT
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Mcu.Pin27=VP_TIM3_VS_ClockSourceINT
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Mcu.Pin28=VP_TIM5_VS_ClockSourceINT
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Mcu.Pin3=PB1
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Mcu.Pin4=PB10
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Mcu.Pin5=PB14
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Mcu.Pin6=PB15
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Mcu.Pin7=PC6
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Mcu.Pin8=PC7
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Mcu.Pin9=PC8
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Mcu.PinsNb=29
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Mcu.ThirdPartyNb=0
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Mcu.UserConstants=
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Mcu.UserName=STM32F446RETx
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MxCube.Version=6.5.0
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MxDb.Version=DB.6.0.50
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NVIC.ADC_IRQn=true\:5\:0\:true\:true\:true\:1\:true\:true\:true\:true
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NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
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NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
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NVIC.ForceEnableDMAVector=true
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NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
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NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
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NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
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NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
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NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
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NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
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NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
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NVIC.SavedPendsvIrqHandlerGenerated=true
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NVIC.SavedSvcallIrqHandlerGenerated=true
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NVIC.SavedSystickIrqHandlerGenerated=true
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NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
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NVIC.TIM2_IRQn=true\:15\:0\:true\:false\:true\:false\:false\:true\:true
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NVIC.TIM3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
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NVIC.TimeBase=TIM2_IRQn
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NVIC.TimeBaseIP=TIM2
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NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
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PA10.Signal=S_TIM1_CH3
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PA11.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
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PA11.GPIO_Label=EN_U
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PA11.GPIO_PuPd=GPIO_PULLDOWN
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PA11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
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PA11.Locked=true
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PA11.Signal=GPIO_Output
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PA12.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
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PA12.GPIO_Label=EN_V
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PA12.GPIO_PuPd=GPIO_PULLDOWN
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PA12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
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PA12.Locked=true
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PA12.Signal=GPIO_Output
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PA13.Mode=Serial_Wire
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PA13.Signal=SYS_JTMS-SWDIO
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PA14.Mode=Serial_Wire
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PA14.Signal=SYS_JTCK-SWCLK
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PA8.Signal=S_TIM1_CH1
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PA9.Signal=S_TIM1_CH2
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PB0.GPIOParameters=GPIO_Label
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PB0.GPIO_Label=SENSE2
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PB0.Locked=true
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PB0.Signal=ADCx_IN8
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PB1.GPIOParameters=GPIO_Label
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PB1.GPIO_Label=SENSE1
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PB1.Locked=true
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PB1.Signal=ADCx_IN9
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PB10.Locked=true
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PB10.Mode=Full_Duplex_Master
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PB10.Signal=SPI2_SCK
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PB14.Locked=true
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PB14.Mode=Full_Duplex_Master
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PB14.Signal=SPI2_MISO
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PB15.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
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PB15.GPIO_Label=AS5045_CS
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PB15.GPIO_PuPd=GPIO_PULLUP
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PB15.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
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PB15.Locked=true
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PB15.PinState=GPIO_PIN_SET
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PB15.Signal=GPIO_Output
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PB6.Mode=Asynchronous
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PB6.Signal=USART1_TX
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PB7.Mode=Asynchronous
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PB7.Signal=USART1_RX
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PC1.Mode=Full_Duplex_Master
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PC1.Signal=SPI2_MOSI
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PC10.GPIOParameters=GPIO_Label
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PC10.GPIO_Label=LED1
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PC10.Locked=true
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PC10.Signal=GPIO_Output
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PC11.GPIOParameters=GPIO_Label
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PC11.GPIO_Label=LED2
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PC11.Locked=true
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PC11.Signal=GPIO_Output
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PC12.GPIOParameters=GPIO_Label
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PC12.GPIO_Label=LED3
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PC12.Locked=true
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PC12.Signal=GPIO_Output
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PC5.GPIOParameters=GPIO_Label
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PC5.GPIO_Label=SENSE3
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PC5.Locked=true
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PC5.Signal=ADCx_IN15
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PC6.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
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PC6.GPIO_Label=EN_W
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PC6.GPIO_PuPd=GPIO_PULLDOWN
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PC6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
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PC6.Locked=true
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PC6.Signal=GPIO_Output
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PC7.GPIOParameters=GPIO_Label
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PC7.GPIO_Label=DRV_FAULT
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PC7.Locked=true
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PC7.Signal=GPIO_Input
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PC8.GPIOParameters=GPIO_Label
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PC8.GPIO_Label=DRV_RESET
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PC8.Locked=true
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PC8.Signal=GPIO_Output
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PC9.GPIOParameters=GPIO_Label
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PC9.GPIO_Label=DRV_SLEEP
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PC9.Locked=true
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PC9.Signal=GPIO_Output
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PD2.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
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PD2.GPIO_Label=spi1_cs
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PD2.GPIO_PuPd=GPIO_PULLDOWN
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PD2.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
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PD2.Locked=true
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PD2.Signal=GPIO_Output
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PinOutPanel.RotationAngle=0
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ProjectManager.AskForMigrate=true
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ProjectManager.BackupPrevious=false
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ProjectManager.CompilerOptimize=6
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ProjectManager.ComputerToolchain=false
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ProjectManager.CoupleFile=true
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ProjectManager.CustomerFirmwarePackage=
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ProjectManager.DefaultFWLocation=true
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ProjectManager.DeletePrevious=true
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ProjectManager.DeviceId=STM32F446RETx
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ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
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ProjectManager.FreePins=false
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ProjectManager.HalAssertFull=false
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ProjectManager.HeapSize=0x200
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ProjectManager.KeepUserCode=true
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ProjectManager.LastFirmware=true
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ProjectManager.LibraryCopy=1
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ProjectManager.MainLocation=Src
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ProjectManager.NoMain=false
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ProjectManager.PreviousToolchain=STM32CubeIDE
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ProjectManager.ProjectBuild=false
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ProjectManager.ProjectFileName=cubemx_config.ioc
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ProjectManager.ProjectName=cubemx_config
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ProjectManager.RegisterCallBack=
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ProjectManager.StackSize=0x400
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ProjectManager.TargetToolchain=Other Toolchains (GPDSC)
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ProjectManager.ToolChainLocation=
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ProjectManager.UnderRoot=false
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ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_TIM1_Init-TIM1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_SPI2_Init-SPI2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_ADC2_Init-ADC2-false-HAL-true,8-MX_TIM5_Init-TIM5-false-HAL-true
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RCC.AHBFreq_Value=180000000
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RCC.APB1CLKDivider=RCC_HCLK_DIV4
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RCC.APB1Freq_Value=45000000
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RCC.APB1TimFreq_Value=90000000
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RCC.APB2CLKDivider=RCC_HCLK_DIV2
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RCC.APB2Freq_Value=90000000
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RCC.APB2TimFreq_Value=180000000
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RCC.CECFreq_Value=32786.88524590164
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RCC.CortexFreq_Value=180000000
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RCC.FCLKCortexFreq_Value=180000000
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RCC.FMPI2C1Freq_Value=45000000
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RCC.FamilyName=M
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RCC.HCLKFreq_Value=180000000
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RCC.HSE_VALUE=8000000
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RCC.I2S1Freq_Value=96000000
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RCC.I2S2Freq_Value=96000000
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RCC.IPParameters=AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CECFreq_Value,CortexFreq_Value,FCLKCortexFreq_Value,FMPI2C1Freq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,I2S1Freq_Value,I2S2Freq_Value,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SPCLKFreq_Value,PLLI2SQCLKFreq_Value,PLLI2SRCLKFreq_Value,PLLI2SoutputFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLRCLKFreq_Value,PLLSAIPCLKFreq_Value,PLLSAIQCLKFreq_Value,PLLSAIoutputFreq_Value,PWRFreq_Value,SAIAFreq_Value,SAIBFreq_Value,SDIOFreq_Value,SPDIFRXFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,USBFreq_Value,VCOI2SInputFreq_Value,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOSAIInputFreq_Value,VCOSAIOutputFreq_Value
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RCC.MCO2PinFreq_Value=180000000
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RCC.PLLCLKFreq_Value=180000000
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RCC.PLLI2SPCLKFreq_Value=96000000
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RCC.PLLI2SQCLKFreq_Value=96000000
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RCC.PLLI2SRCLKFreq_Value=96000000
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RCC.PLLI2SoutputFreq_Value=96000000
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RCC.PLLM=8
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RCC.PLLN=180
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RCC.PLLQCLKFreq_Value=180000000
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RCC.PLLRCLKFreq_Value=180000000
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RCC.PLLSAIPCLKFreq_Value=96000000
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RCC.PLLSAIQCLKFreq_Value=96000000
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RCC.PLLSAIoutputFreq_Value=96000000
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RCC.PWRFreq_Value=180000000
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RCC.SAIAFreq_Value=96000000
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RCC.SAIBFreq_Value=96000000
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RCC.SDIOFreq_Value=180000000
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RCC.SPDIFRXFreq_Value=180000000
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RCC.SYSCLKFreq_VALUE=180000000
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RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
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RCC.USBFreq_Value=180000000
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RCC.VCOI2SInputFreq_Value=1000000
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RCC.VCOI2SOutputFreq_Value=192000000
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RCC.VCOInputFreq_Value=2000000
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RCC.VCOOutputFreq_Value=360000000
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RCC.VCOSAIInputFreq_Value=1000000
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RCC.VCOSAIOutputFreq_Value=192000000
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SH.ADCx_IN15.0=ADC2_IN15,IN15
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SH.ADCx_IN15.ConfNb=1
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SH.ADCx_IN8.0=ADC2_IN8,IN8
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SH.ADCx_IN8.ConfNb=1
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SH.ADCx_IN9.0=ADC2_IN9,IN9
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SH.ADCx_IN9.ConfNb=1
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SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
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SH.S_TIM1_CH1.ConfNb=1
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SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
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SH.S_TIM1_CH2.ConfNb=1
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SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
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SH.S_TIM1_CH3.ConfNb=1
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SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
|
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SPI2.CLKPhase=SPI_PHASE_1EDGE
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SPI2.CLKPolarity=SPI_POLARITY_LOW
|
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SPI2.CalculateBaudRate=703.125 KBits/s
|
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SPI2.DataSize=SPI_DATASIZE_16BIT
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SPI2.Direction=SPI_DIRECTION_2LINES
|
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SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,CLKPhase,BaudRatePrescaler,CLKPolarity
|
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SPI2.Mode=SPI_MODE_MASTER
|
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SPI2.VirtualType=VM_MASTER
|
||||
TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
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TIM1.BreakState=TIM_BREAK_DISABLE
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TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
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TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
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TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
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TIM1.CounterMode=TIM_COUNTERMODE_CENTERALIGNED1
|
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TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,TIM_MasterOutputTrigger,AutoReloadPreload,BreakState,OffStateRunMode,OffStateIDLEMode,CounterMode,Period
|
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TIM1.OffStateIDLEMode=TIM_OSSI_DISABLE
|
||||
TIM1.OffStateRunMode=TIM_OSSR_DISABLE
|
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TIM1.Period=2399
|
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TIM1.TIM_MasterOutputTrigger=TIM_TRGO_RESET
|
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TIM3.IPParameters=Period,Prescaler
|
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TIM3.Period=99
|
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TIM3.Prescaler=89
|
||||
USART1.IPParameters=VirtualMode
|
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USART1.VirtualMode=VM_ASYNC
|
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VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
|
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VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
|
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VP_SYS_VS_tim2.Mode=TIM2
|
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VP_SYS_VS_tim2.Signal=SYS_VS_tim2
|
||||
VP_TIM1_VS_ClockSourceINT.Mode=Internal
|
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VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
|
||||
VP_TIM3_VS_ClockSourceINT.Mode=Internal
|
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VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
|
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VP_TIM5_VS_ClockSourceINT.Mode=Internal
|
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VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
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board=custom
|
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38
controller/fw/embed/include/hal_conf_extra.h
Normal file
38
controller/fw/embed/include/hal_conf_extra.h
Normal file
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@ -0,0 +1,38 @@
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#pragma once
|
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|
||||
#pragma region "Motor and sensor setup"
|
||||
#define LED1 PC10
|
||||
#define LED2 PC11
|
||||
#define HARDWARE_SERIAL_RX_PIN PB7
|
||||
#define HARDWARE_SERIAL_TX_PIN PB6
|
||||
#define AS5045_CS PB15
|
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#define AS5045_MISO PB14
|
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#define AS5045_MOSI PC1
|
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#define AS5045_SCLK PB10
|
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#define CURRENT_SENSOR_1 PB1
|
||||
#define CURRENT_SENSOR_2 PB0
|
||||
#define CURRENT_SENSOR_3 PC5
|
||||
#define TIM1_CH1 PA8
|
||||
#define TIM1_CH2 PA9
|
||||
#define TIM1_CH3 PA10
|
||||
#define EN_W_GATE_DRIVER PC6
|
||||
#define EN_U_GATE_DRIVER PA11
|
||||
#define EN_V_GATE_DRIVER PA12
|
||||
#define SLEEP_DRIVER PC9
|
||||
#define RESET_DRIVER PC8
|
||||
#define FAULT_DRIVER PC7
|
||||
#define POLE_PAIRS 14
|
||||
#define CAN2_TX PB13
|
||||
#define CAN2_RX PB12
|
||||
#define CAN1_TX PB9
|
||||
#define CAN1_RX PB8
|
||||
#define GM6208_RESISTANCE 31
|
||||
#define OWN_RESISTANCE 26
|
||||
#pragma endregion
|
||||
|
||||
#if !defined(HAL_CAN_MODULE_ENABLED)
|
||||
#define HAL_CAN_MODULE_ENABLED
|
||||
#endif
|
||||
#include "stm32f4xx_hal.h"
|
||||
#include "stm32f4xx_hal_can.h"
|
||||
#include <STM32_CAN.h>
|
||||
25781
controller/fw/embed/knowledges/AS5045B_DS000397_2-00.pdf
Normal file
25781
controller/fw/embed/knowledges/AS5045B_DS000397_2-00.pdf
Normal file
File diff suppressed because one or more lines are too long
BIN
controller/fw/embed/knowledges/TI-DRV8313.pdf
Normal file
BIN
controller/fw/embed/knowledges/TI-DRV8313.pdf
Normal file
Binary file not shown.
BIN
controller/fw/embed/knowledges/motorBoard.pdf
Normal file
BIN
controller/fw/embed/knowledges/motorBoard.pdf
Normal file
Binary file not shown.
Binary file not shown.
44
controller/fw/embed/lib/AS5045/AS5045.cpp
Normal file
44
controller/fw/embed/lib/AS5045/AS5045.cpp
Normal file
|
|
@ -0,0 +1,44 @@
|
|||
#include "AS5045.h"
|
||||
|
||||
|
||||
MagneticSensorAS5045::MagneticSensorAS5045(uint16_t as5040_cs, uint16_t as5040_mosi, uint16_t as5040_miso,
|
||||
uint16_t as5040_sclk): AS5040_CS_(as5040_cs),
|
||||
AS5040_MOSI_(as5040_mosi),
|
||||
AS5040_MISO_(as5040_miso),
|
||||
AS5040_SCLK_(as5040_sclk),
|
||||
spi(nullptr),
|
||||
settings(AS5145SSISettings) {
|
||||
}
|
||||
|
||||
MagneticSensorAS5045::~MagneticSensorAS5045() = default;
|
||||
|
||||
auto MagneticSensorAS5045::init(SPIClass *_spi) -> void {
|
||||
this->spi = _spi;
|
||||
settings = AS5145SSISettings;
|
||||
pinMode(AS5040_CS_, OUTPUT);
|
||||
pinMode(AS5040_MISO_, INPUT);
|
||||
pinMode(AS5040_MOSI_, OUTPUT);
|
||||
pinMode(AS5040_SCLK_, OUTPUT);
|
||||
|
||||
spi->setMISO(AS5040_MISO_);
|
||||
spi->setMOSI(AS5040_MOSI_);
|
||||
spi->setSCLK(AS5040_SCLK_);
|
||||
spi->begin();
|
||||
this->Sensor::init();
|
||||
}
|
||||
|
||||
float MagneticSensorAS5045::getSensorAngle() {
|
||||
float angle_data = readRawAngleSSI();
|
||||
angle_data = (static_cast<float>(angle_data) / AS5045_CPR) * _2PI;
|
||||
return angle_data;
|
||||
}
|
||||
|
||||
uint16_t MagneticSensorAS5045::readRawAngleSSI() const {
|
||||
spi->beginTransaction(settings);
|
||||
digitalWrite(AS5040_CS_, LOW);
|
||||
uint16_t value = spi->transfer16(0x0000);
|
||||
digitalWrite(AS5040_CS_, HIGH);
|
||||
spi->endTransaction();
|
||||
delayMicroseconds(30);
|
||||
return (value >> 3) & 0x1FFF; // TODO(vanyabeat): Add error checking MAGNETIC OWERFLOW and etc.
|
||||
}
|
||||
32
controller/fw/embed/lib/AS5045/AS5045.h
Normal file
32
controller/fw/embed/lib/AS5045/AS5045.h
Normal file
|
|
@ -0,0 +1,32 @@
|
|||
#pragma once
|
||||
|
||||
#include "SimpleFOC.h"
|
||||
#include "SPI.h"
|
||||
|
||||
#ifndef MSBFIRST
|
||||
#define MSBFIRST BitOrder::MSBFIRST
|
||||
#endif
|
||||
|
||||
#define AS5045_BITORDER MSBFIRST
|
||||
#define AS5045_CPR 4096.0f
|
||||
#define _2PI 6.28318530718f
|
||||
|
||||
static SPISettings AS5145SSISettings(1000000, AS5045_BITORDER, SPI_MODE0);
|
||||
|
||||
class MagneticSensorAS5045 final: public Sensor {
|
||||
public:
|
||||
MagneticSensorAS5045(uint16_t as5040_cs, uint16_t as5040_mosi, uint16_t as5040_miso, uint16_t as5040_sclk);
|
||||
|
||||
virtual ~MagneticSensorAS5045();
|
||||
|
||||
float getSensorAngle() override;
|
||||
|
||||
virtual void init(SPIClass *_spi = &SPI);
|
||||
|
||||
[[nodiscard]] uint16_t readRawAngleSSI() const;
|
||||
|
||||
private:
|
||||
uint16_t AS5040_CS_, AS5040_MOSI_, AS5040_MISO_, AS5040_SCLK_;
|
||||
SPIClass *spi;
|
||||
SPISettings settings;
|
||||
};
|
||||
10
controller/fw/embed/lib/AS5045/library.properties
Normal file
10
controller/fw/embed/lib/AS5045/library.properties
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
name=AS5045
|
||||
version=1.0.1
|
||||
author=vanyabeat <vanyabeat@protonmail.com>
|
||||
maintainer=vanyabeat <vanyabeat@protonmail.com>
|
||||
sentence=Simple library to work with AS5040 and Simple FOC (for Robotroller in Robosemmbler) Fork from https://github.com/runger1101001
|
||||
paragraph=Simple library to work with AS5040 and Simple FOC and simple library intended for hobby comunity to run the AS5040 magnetic sensor using FOC algorithm. It is intended to support as many BLDC/Stepper motor+sensor+driver combinations as possible and in the same time maintain simplicity of usage. Library supports Arudino devices such as Arduino UNO, MEGA, NANO and similar, stm32 boards such as Nucleo and Bluepill, ESP32 and Teensy boards.
|
||||
category=Device Control
|
||||
url=https://docs.simplefoc.com
|
||||
architectures=*
|
||||
includes=SimpleFOC.h
|
||||
42
controller/fw/embed/lib/DRV8313/DRV8313.cpp
Normal file
42
controller/fw/embed/lib/DRV8313/DRV8313.cpp
Normal file
|
|
@ -0,0 +1,42 @@
|
|||
#include "DRV8313.h"
|
||||
|
||||
DRV8313Driver::DRV8313Driver(int phA, int phB, int phC, int en1, int en2, int en3, int slp, int rst,
|
||||
int flt) : BLDCDriver3PWM(phA, phB, phC, en1, en2, en3), slp_pin(slp), rst_pin(rst),
|
||||
flt_pin(flt) {
|
||||
}
|
||||
|
||||
int DRV8313Driver::init() {
|
||||
// Get state from flt pin
|
||||
if (_isset(flt_pin)) {
|
||||
pinMode(flt_pin, INPUT);
|
||||
if (digitalRead(flt_pin) == HIGH) {
|
||||
// if the fault pin is high the driver is in fault state
|
||||
// reset the driver
|
||||
if (_isset(rst_pin)) {
|
||||
pinMode(rst_pin, OUTPUT);
|
||||
digitalWrite(rst_pin, LOW);
|
||||
delay(1);
|
||||
digitalWrite(rst_pin, HIGH);
|
||||
delay(1);
|
||||
}
|
||||
}
|
||||
}
|
||||
return BLDCDriver3PWM::init();
|
||||
}
|
||||
|
||||
void DRV8313Driver::enable() {
|
||||
// Enable the driver
|
||||
if (_isset(slp_pin)) {
|
||||
pinMode(slp_pin, OUTPUT);
|
||||
digitalWrite(slp_pin, HIGH);
|
||||
}
|
||||
BLDCDriver3PWM::enable();
|
||||
}
|
||||
|
||||
void DRV8313Driver::disable() {
|
||||
if (_isset(slp_pin)) {
|
||||
pinMode(slp_pin, OUTPUT);
|
||||
digitalWrite(slp_pin, LOW);
|
||||
}
|
||||
BLDCDriver3PWM::disable();
|
||||
}
|
||||
20
controller/fw/embed/lib/DRV8313/DRV8313.h
Normal file
20
controller/fw/embed/lib/DRV8313/DRV8313.h
Normal file
|
|
@ -0,0 +1,20 @@
|
|||
#pragma once
|
||||
|
||||
#include "SimpleFOC.h"
|
||||
|
||||
class DRV8313Driver : public BLDCDriver3PWM {
|
||||
public:
|
||||
DRV8313Driver(int phA, int phB, int phC, int en1 = NOT_SET, int en2 = NOT_SET, int en3 = NOT_SET, int slp = NOT_SET,
|
||||
int rst = NOT_SET, int flt = NOT_SET);
|
||||
|
||||
int init() override;
|
||||
|
||||
void enable() override;
|
||||
|
||||
void disable() override;
|
||||
|
||||
private:
|
||||
int slp_pin;
|
||||
int rst_pin;
|
||||
int flt_pin;
|
||||
};
|
||||
10
controller/fw/embed/lib/DRV8313/library.properties
Normal file
10
controller/fw/embed/lib/DRV8313/library.properties
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
name=DRV8313 Simple FOC
|
||||
version=1.0.0
|
||||
author=vanyabeat <vanyabeat@protonmail.com>
|
||||
maintainer=vanyabeat <vanyabeat@protonmail.com>
|
||||
sentence=Simple library to work with DRV8313 and Simple FOC (for Robotroller in Robosemmbler)
|
||||
paragraph=Simple library to work with DRV8313 and Simple FOC and simple library intended for hobby comunity to run the BLDC and Stepper motor using FOC algorithm. It is intended to support as many BLDC/Stepper motor+sensor+driver combinations as possible and in the same time maintain simplicity of usage. Library supports Arudino devices such as Arduino UNO, MEGA, NANO and similar, stm32 boards such as Nucleo and Bluepill, ESP32 and Teensy boards.
|
||||
category=Device Control
|
||||
url=https://docs.simplefoc.com
|
||||
architectures=*
|
||||
includes=SimpleFOC.h
|
||||
46
controller/fw/embed/lib/README
Normal file
46
controller/fw/embed/lib/README
Normal file
|
|
@ -0,0 +1,46 @@
|
|||
|
||||
This directory is intended for project specific (private) libraries.
|
||||
PlatformIO will compile them to static libraries and link into executable file.
|
||||
|
||||
The source code of each library should be placed in a an own separate directory
|
||||
("lib/your_library_name/[here are source files]").
|
||||
|
||||
For example, see a structure of the following two libraries `Foo` and `Bar`:
|
||||
|
||||
|--lib
|
||||
| |
|
||||
| |--Bar
|
||||
| | |--docs
|
||||
| | |--examples
|
||||
| | |--src
|
||||
| | |- Bar.c
|
||||
| | |- Bar.h
|
||||
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
|
||||
| |
|
||||
| |--Foo
|
||||
| | |- Foo.c
|
||||
| | |- Foo.h
|
||||
| |
|
||||
| |- README --> THIS FILE
|
||||
|
|
||||
|- platformio.ini
|
||||
|--src
|
||||
|- main.c
|
||||
|
||||
and a contents of `src/main.c`:
|
||||
```
|
||||
#include <Foo.h>
|
||||
#include <Bar.h>
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
|
||||
```
|
||||
|
||||
PlatformIO Library Dependency Finder will find automatically dependent
|
||||
libraries scanning project source files.
|
||||
|
||||
More information about PlatformIO Library Dependency Finder
|
||||
- https://docs.platformio.org/page/librarymanager/ldf.html
|
||||
27
controller/fw/embed/platformio.ini
Normal file
27
controller/fw/embed/platformio.ini
Normal file
|
|
@ -0,0 +1,27 @@
|
|||
; PlatformIO Project Configuration File
|
||||
;
|
||||
; Build options: build flags, source filter
|
||||
; Upload options: custom upload port, speed and extra flags
|
||||
; Library options: dependencies, extra library storages
|
||||
; Advanced options: extra scripting
|
||||
;
|
||||
; Please visit documentation for the other options and examples
|
||||
; https://docs.platformio.org/page/projectconf.html
|
||||
|
||||
[platformio]
|
||||
|
||||
[env:robotroller_reborn]
|
||||
platform = ststm32
|
||||
board = genericSTM32F446RE
|
||||
framework = arduino
|
||||
upload_protocol = stlink
|
||||
debug_tool = stlink
|
||||
monitor_speed = 115200
|
||||
monitor_parity = N
|
||||
build_flags =
|
||||
-DSTM32F446xx
|
||||
-D HAL_CAN_MODULE_ENABLED
|
||||
-D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
|
||||
lib_deps =
|
||||
askuric/Simple FOC@^2.3.2
|
||||
pazi88/STM32_CAN@^1.1.0
|
||||
121
controller/fw/embed/src/main.cpp
Normal file
121
controller/fw/embed/src/main.cpp
Normal file
|
|
@ -0,0 +1,121 @@
|
|||
// clang-format off
|
||||
#include <Arduino.h>
|
||||
#include <SimpleFOC.h>
|
||||
#include <STM32_CAN.h>
|
||||
#include <AS5045.h>
|
||||
#include <DRV8313.h>
|
||||
#include "hal_conf_extra.h"
|
||||
// clang-format on
|
||||
|
||||
STM32_CAN Can(CAN2, DEF);
|
||||
|
||||
static CAN_message_t CAN_TX_msg;
|
||||
static CAN_message_t CAN_inMsg;
|
||||
|
||||
SPIClass spi;
|
||||
MagneticSensorAS5045 sensor(AS5045_CS, AS5045_MOSI, AS5045_MISO, AS5045_SCLK);
|
||||
|
||||
BLDCMotor motor(POLE_PAIRS);
|
||||
|
||||
DRV8313Driver driver(TIM1_CH1, TIM1_CH2, TIM1_CH3, EN_W_GATE_DRIVER,
|
||||
EN_U_GATE_DRIVER, EN_V_GATE_DRIVER, SLEEP_DRIVER,
|
||||
RESET_DRIVER, FAULT_DRIVER);
|
||||
LowsideCurrentSense current_sense(0.0125, 20, CURRENT_SENSOR_1, CURRENT_SENSOR_2,
|
||||
CURRENT_SENSOR_3);
|
||||
|
||||
Commander command(Serial);
|
||||
|
||||
void doMotor(char *cmd) {
|
||||
command.motor(&motor, cmd);
|
||||
digitalWrite(PC10, !digitalRead(PC10));
|
||||
delayMicroseconds(2);
|
||||
}
|
||||
|
||||
void setup_foc(MagneticSensorAS5045 *sensor, BLDCMotor *motor, DRV8313Driver *driver,
|
||||
LowsideCurrentSense *current_sense, Commander *commander,
|
||||
CommandCallback callback) {
|
||||
sensor->init(&spi);
|
||||
motor->linkSensor(sensor);
|
||||
driver->pwm_frequency = 20000;
|
||||
driver->voltage_power_supply = 20;
|
||||
driver->voltage_limit = 40;
|
||||
driver->init();
|
||||
motor->linkDriver(driver);
|
||||
current_sense->linkDriver(driver);
|
||||
current_sense->init();
|
||||
motor->linkCurrentSense(current_sense);
|
||||
SimpleFOCDebug::enable(nullptr);
|
||||
commander->add('M', callback, "motor");
|
||||
motor->useMonitoring(Serial);
|
||||
motor->monitor_start_char = 'M';
|
||||
motor->monitor_end_char = 'M';
|
||||
commander->verbose = VerboseMode::machine_readable;
|
||||
motor->controller = MotionControlType::angle;
|
||||
motor->torque_controller = TorqueControlType::voltage;
|
||||
motor->foc_modulation = FOCModulationType::SinePWM;
|
||||
motor->PID_velocity.P = 0.3;
|
||||
motor->PID_velocity.I = 15;
|
||||
motor->PID_velocity.D = 0.001;
|
||||
motor->PID_velocity.output_ramp = 1000;
|
||||
motor->LPF_velocity.Tf = 0.005;
|
||||
motor->LPF_angle.Tf = 0.005;
|
||||
motor->P_angle.P = 15;
|
||||
motor->velocity_limit = 40;
|
||||
motor->voltage_limit = 40;
|
||||
motor->sensor_direction = Direction::CCW;
|
||||
current_sense->skip_align = true;
|
||||
motor->init();
|
||||
motor->initFOC();
|
||||
}
|
||||
|
||||
|
||||
void send_data() {
|
||||
// TODO(vanyabeat) add can functionability for ROS packets
|
||||
CAN_TX_msg.id = 1;
|
||||
CAN_TX_msg.buf[0] = 'A';
|
||||
CAN_TX_msg.len = 5;
|
||||
Can.write(CAN_TX_msg);
|
||||
digitalWrite(PC11, !digitalRead(PC11));
|
||||
}
|
||||
|
||||
void read_can_message() {
|
||||
float angle;
|
||||
memcpy(&angle, &CAN_inMsg.buf[1], sizeof(angle));
|
||||
motor.target = angle;
|
||||
digitalWrite(PC10, !digitalRead(PC10));
|
||||
}
|
||||
|
||||
void run_foc(BLDCMotor *motor, Commander *commander) {
|
||||
motor->loopFOC();
|
||||
motor->move();
|
||||
motor->monitor();
|
||||
commander->run();
|
||||
}
|
||||
|
||||
void setup() {
|
||||
Serial.setRx(HARDWARE_SERIAL_RX_PIN);
|
||||
Serial.setTx(HARDWARE_SERIAL_TX_PIN);
|
||||
Serial.begin(115200);
|
||||
// setup led pin
|
||||
pinMode(PC11, OUTPUT);
|
||||
pinMode(PC10, OUTPUT);
|
||||
Can.begin();
|
||||
Can.setBaudRate(1000000);
|
||||
TIM_TypeDef *Instance = TIM2;
|
||||
HardwareTimer *SendTimer = new HardwareTimer(Instance);
|
||||
SendTimer->setOverflow(100, HERTZ_FORMAT); // 50 Hz
|
||||
SendTimer->attachInterrupt(send_data);
|
||||
SendTimer->resume();
|
||||
setup_foc(&sensor, &motor, &driver, ¤t_sense, &command, doMotor);
|
||||
_delay(1000);
|
||||
}
|
||||
|
||||
float current_angle = 0;
|
||||
void loop() {
|
||||
run_foc(&motor, &command);
|
||||
current_angle = sensor.getAngle();
|
||||
memcpy(&CAN_TX_msg.buf[1], ¤t_angle, sizeof(current_angle));
|
||||
while (Can.read(CAN_inMsg)) {
|
||||
read_can_message();
|
||||
}
|
||||
}
|
||||
11
controller/fw/embed/test/README
Normal file
11
controller/fw/embed/test/README
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
|
||||
This directory is intended for PlatformIO Test Runner and project tests.
|
||||
|
||||
Unit Testing is a software testing method by which individual units of
|
||||
source code, sets of one or more MCU program modules together with associated
|
||||
control data, usage procedures, and operating procedures, are tested to
|
||||
determine whether they are fit for use. Unit testing finds problems early
|
||||
in the development cycle.
|
||||
|
||||
More information about PlatformIO Unit Testing:
|
||||
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
|
||||
4
controller/fw/test/bring_up_can.sh
Normal file
4
controller/fw/test/bring_up_can.sh
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
#!/bin/bash
|
||||
|
||||
ip link set can0 type can bitrate 1000000
|
||||
ip link set up can0
|
||||
34
controller/fw/test/send_can.sh
Normal file
34
controller/fw/test/send_can.sh
Normal file
|
|
@ -0,0 +1,34 @@
|
|||
#!/bin/bash
|
||||
|
||||
# Read 8 byte ascii from $1 and send it to CAN bus
|
||||
|
||||
# <can_id>:
|
||||
# 3 (SFF) or 8 (EFF) hex chars
|
||||
# {data}:
|
||||
# 0..8 (0..64 CAN FD) ASCII hex-values (optionally separated by '.')
|
||||
# {len}:
|
||||
# an optional 0..8 value as RTR frames can contain a valid dlc field
|
||||
# <flags>:
|
||||
# a single ASCII Hex value (0 .. F) which defines canfd_frame.flags
|
||||
|
||||
can_id=$1
|
||||
input=$2
|
||||
|
||||
if [[ ${#input} -gt 8 ]]; then
|
||||
echo "Error: Input string must be no longer than 8 characters."
|
||||
exit 1
|
||||
fi
|
||||
|
||||
hex_output=""
|
||||
for (( i=0; i<${#input}; i++ )); do
|
||||
hex_char=$(printf "%02x" "'${input:$i:1}")
|
||||
hex_output+="${hex_char}"
|
||||
done
|
||||
|
||||
hex_output=$(printf "%-16s" "$hex_output")
|
||||
hex_output=${hex_output// /0}
|
||||
|
||||
can_id=$(printf "%03X" $can_id)
|
||||
|
||||
cansend can0 $can_id#$hex_output
|
||||
|
||||
30
controller/fw/test/test_driver.sh
Normal file
30
controller/fw/test/test_driver.sh
Normal file
|
|
@ -0,0 +1,30 @@
|
|||
#!/bin/bash
|
||||
|
||||
|
||||
/bin/bash $(pwd)/send_can.sh 1 E0
|
||||
|
||||
/bin/bash $(pwd)/send_can.sh 1 E1
|
||||
|
||||
/bin/bash $(pwd)/send_can.sh 1 C2
|
||||
|
||||
/bin/bash $(pwd)/send_can.sh 1 1
|
||||
sleep 1
|
||||
/bin/bash $(pwd)/send_can.sh 1 -1
|
||||
sleep 1
|
||||
/bin/bash $(pwd)/send_can.sh 1 -1
|
||||
sleep 1
|
||||
/bin/bash $(pwd)/send_can.sh 1 2
|
||||
sleep 1
|
||||
/bin/bash $(pwd)/send_can.sh 1 C1
|
||||
sleep 1
|
||||
/bin/bash $(pwd)/send_can.sh 1 0.5
|
||||
sleep 5
|
||||
/bin/bash $(pwd)/send_can.sh 1 2
|
||||
sleep 5
|
||||
/bin/bash $(pwd)/send_can.sh 1 5
|
||||
sleep 5
|
||||
/bin/bash $(pwd)/send_can.sh 1 -5
|
||||
sleep 5
|
||||
/bin/bash $(pwd)/send_can.sh 1 20
|
||||
sleep 5
|
||||
/bin/bash $(pwd)/send_can.sh 1 E0
|
||||
525
controller/hw/motor_controller_50mm-rescue.kicad_sym
Normal file
525
controller/hw/motor_controller_50mm-rescue.kicad_sym
Normal file
|
|
@ -0,0 +1,525 @@
|
|||
(kicad_symbol_lib (version 20220914) (generator kicad_symbol_editor)
|
||||
(symbol "+3.3V-power" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
|
||||
(property "Reference" "#PWR" (at 0 -3.81 0)
|
||||
(effects (font (size 1.27 1.27)) hide)
|
||||
)
|
||||
(property "Value" "+3.3V-power" (at 0 3.556 0)
|
||||
(effects (font (size 1.27 1.27)))
|
||||
)
|
||||
(property "Footprint" "" (at 0 0 0)
|
||||
(effects (font (size 1.27 1.27)) hide)
|
||||
)
|
||||
(property "Datasheet" "" (at 0 0 0)
|
||||
(effects (font (size 1.27 1.27)) hide)
|
||||
)
|
||||
(symbol "+3.3V-power_0_1"
|
||||
(polyline
|
||||
(pts
|
||||
(xy -0.762 1.27)
|
||||
(xy 0 2.54)
|
||||
)
|
||||
(stroke (width 0) (type solid))
|
||||
(fill (type none))
|
||||
)
|
||||
(polyline
|
||||
(pts
|
||||
(xy 0 0)
|
||||
(xy 0 2.54)
|
||||
)
|
||||
(stroke (width 0) (type solid))
|
||||
(fill (type none))
|
||||
)
|
||||
(polyline
|
||||
(pts
|
||||
(xy 0 2.54)
|
||||
(xy 0.762 1.27)
|
||||
)
|
||||
(stroke (width 0) (type solid))
|
||||
(fill (type none))
|
||||
)
|
||||
)
|
||||
(symbol "+3.3V-power_1_1"
|
||||
(pin power_in line (at 0 0 90) (length 0) hide
|
||||
(name "+3V3" (effects (font (size 1.27 1.27))))
|
||||
(number "1" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
)
|
||||
)
|
||||
(symbol "PROGRAMMATOR-kicad_Library" (pin_names (offset 1.016)) (in_bom yes) (on_board yes)
|
||||
(property "Reference" "xp" (at -8.89 22.86 0)
|
||||
(effects (font (size 1.27 1.27)))
|
||||
)
|
||||
(property "Value" "kicad_Library_PROGRAMMATOR" (at -10.16 5.08 0)
|
||||
(effects (font (size 1.27 1.27)))
|
||||
)
|
||||
(property "Footprint" "Connector_IDC:IDC-Header_2x05_P2.54mm_Vertical" (at -8.89 22.86 0)
|
||||
(effects (font (size 1.27 1.27)) hide)
|
||||
)
|
||||
(property "Datasheet" "" (at -8.89 22.86 0)
|
||||
(effects (font (size 1.27 1.27)) hide)
|
||||
)
|
||||
(symbol "PROGRAMMATOR-kicad_Library_0_1"
|
||||
(rectangle (start -17.78 20.32) (end 1.27 7.62)
|
||||
(stroke (width 0) (type solid))
|
||||
(fill (type background))
|
||||
)
|
||||
)
|
||||
(symbol "PROGRAMMATOR-kicad_Library_1_1"
|
||||
(pin passive line (at -20.32 19.05 0) (length 2.54)
|
||||
(name "GND" (effects (font (size 1.27 1.27))))
|
||||
(number "1" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin power_out line (at 3.81 8.89 180) (length 2.54)
|
||||
(name "+5V" (effects (font (size 1.27 1.27))))
|
||||
(number "10" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin power_out line (at 3.81 19.05 180) (length 2.54)
|
||||
(name "+3V" (effects (font (size 1.27 1.27))))
|
||||
(number "2" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin input line (at -20.32 16.51 0) (length 2.54)
|
||||
(name "RESET" (effects (font (size 1.27 1.27))))
|
||||
(number "3" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin input line (at 3.81 16.51 180) (length 2.54)
|
||||
(name "BOOT" (effects (font (size 1.27 1.27))))
|
||||
(number "4" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin input line (at -20.32 13.97 0) (length 2.54)
|
||||
(name "RX" (effects (font (size 1.27 1.27))))
|
||||
(number "5" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin output line (at 3.81 13.97 180) (length 2.54)
|
||||
(name "TX" (effects (font (size 1.27 1.27))))
|
||||
(number "6" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin input line (at -20.32 11.43 0) (length 2.54)
|
||||
(name "SWDCLK" (effects (font (size 1.27 1.27))))
|
||||
(number "7" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 3.81 11.43 180) (length 2.54)
|
||||
(name "SWDDTA" (effects (font (size 1.27 1.27))))
|
||||
(number "8" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin passive line (at -20.32 8.89 0) (length 2.54)
|
||||
(name "GND" (effects (font (size 1.27 1.27))))
|
||||
(number "9" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
)
|
||||
)
|
||||
(symbol "STM32F446RETx-MCU_ST_STM32F4" (in_bom yes) (on_board yes)
|
||||
(property "Reference" "U" (at -15.24 41.91 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left))
|
||||
)
|
||||
(property "Value" "MCU_ST_STM32F4_STM32F446RETx" (at 10.16 41.91 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left))
|
||||
)
|
||||
(property "Footprint" "Package_QFP:LQFP-64_10x10mm_P0.5mm" (at -15.24 -43.18 0)
|
||||
(effects (font (size 1.27 1.27)) (justify right) hide)
|
||||
)
|
||||
(property "Datasheet" "" (at 0 0 0)
|
||||
(effects (font (size 1.27 1.27)) hide)
|
||||
)
|
||||
(property "ki_fp_filters" "LQFP*10x10mm*P0.5mm*" (at 0 0 0)
|
||||
(effects (font (size 1.27 1.27)) hide)
|
||||
)
|
||||
(symbol "STM32F446RETx-MCU_ST_STM32F4_0_1"
|
||||
(rectangle (start -15.24 -43.18) (end 15.24 40.64)
|
||||
(stroke (width 0.254) (type solid))
|
||||
(fill (type background))
|
||||
)
|
||||
)
|
||||
(symbol "STM32F446RETx-MCU_ST_STM32F4_1_1"
|
||||
(pin power_in line (at -5.08 43.18 270) (length 2.54)
|
||||
(name "VBAT" (effects (font (size 1.27 1.27))))
|
||||
(number "1" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at -17.78 -7.62 0) (length 2.54)
|
||||
(name "PC2" (effects (font (size 1.27 1.27))))
|
||||
(number "10" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at -17.78 -10.16 0) (length 2.54)
|
||||
(name "PC3" (effects (font (size 1.27 1.27))))
|
||||
(number "11" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin power_in line (at 5.08 -45.72 90) (length 2.54)
|
||||
(name "VSSA" (effects (font (size 1.27 1.27))))
|
||||
(number "12" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin power_in line (at 7.62 43.18 270) (length 2.54)
|
||||
(name "VDDA" (effects (font (size 1.27 1.27))))
|
||||
(number "13" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 38.1 180) (length 2.54)
|
||||
(name "PA0" (effects (font (size 1.27 1.27))))
|
||||
(number "14" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 35.56 180) (length 2.54)
|
||||
(name "PA1" (effects (font (size 1.27 1.27))))
|
||||
(number "15" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 33.02 180) (length 2.54)
|
||||
(name "PA2" (effects (font (size 1.27 1.27))))
|
||||
(number "16" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 30.48 180) (length 2.54)
|
||||
(name "PA3" (effects (font (size 1.27 1.27))))
|
||||
(number "17" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin power_in line (at -5.08 -45.72 90) (length 2.54)
|
||||
(name "VSS" (effects (font (size 1.27 1.27))))
|
||||
(number "18" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin power_in line (at -2.54 43.18 270) (length 2.54)
|
||||
(name "VDD" (effects (font (size 1.27 1.27))))
|
||||
(number "19" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at -17.78 -35.56 0) (length 2.54)
|
||||
(name "PC13" (effects (font (size 1.27 1.27))))
|
||||
(number "2" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 27.94 180) (length 2.54)
|
||||
(name "PA4" (effects (font (size 1.27 1.27))))
|
||||
(number "20" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 25.4 180) (length 2.54)
|
||||
(name "PA5" (effects (font (size 1.27 1.27))))
|
||||
(number "21" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 22.86 180) (length 2.54)
|
||||
(name "PA6" (effects (font (size 1.27 1.27))))
|
||||
(number "22" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 20.32 180) (length 2.54)
|
||||
(name "PA7" (effects (font (size 1.27 1.27))))
|
||||
(number "23" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at -17.78 -12.7 0) (length 2.54)
|
||||
(name "PC4" (effects (font (size 1.27 1.27))))
|
||||
(number "24" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at -17.78 -15.24 0) (length 2.54)
|
||||
(name "PC5" (effects (font (size 1.27 1.27))))
|
||||
(number "25" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 -5.08 180) (length 2.54)
|
||||
(name "PB0" (effects (font (size 1.27 1.27))))
|
||||
(number "26" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 -7.62 180) (length 2.54)
|
||||
(name "PB1" (effects (font (size 1.27 1.27))))
|
||||
(number "27" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 -10.16 180) (length 2.54)
|
||||
(name "PB2" (effects (font (size 1.27 1.27))))
|
||||
(number "28" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 -30.48 180) (length 2.54)
|
||||
(name "PB10" (effects (font (size 1.27 1.27))))
|
||||
(number "29" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at -17.78 -38.1 0) (length 2.54)
|
||||
(name "PC14" (effects (font (size 1.27 1.27))))
|
||||
(number "3" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin power_in line (at -17.78 27.94 0) (length 2.54)
|
||||
(name "VCAP_1" (effects (font (size 1.27 1.27))))
|
||||
(number "30" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin power_in line (at -2.54 -45.72 90) (length 2.54)
|
||||
(name "VSS" (effects (font (size 1.27 1.27))))
|
||||
(number "31" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin power_in line (at 0 43.18 270) (length 2.54)
|
||||
(name "VDD" (effects (font (size 1.27 1.27))))
|
||||
(number "32" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 -33.02 180) (length 2.54)
|
||||
(name "PB12" (effects (font (size 1.27 1.27))))
|
||||
(number "33" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 -35.56 180) (length 2.54)
|
||||
(name "PB13" (effects (font (size 1.27 1.27))))
|
||||
(number "34" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 -38.1 180) (length 2.54)
|
||||
(name "PB14" (effects (font (size 1.27 1.27))))
|
||||
(number "35" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 -40.64 180) (length 2.54)
|
||||
(name "PB15" (effects (font (size 1.27 1.27))))
|
||||
(number "36" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at -17.78 -17.78 0) (length 2.54)
|
||||
(name "PC6" (effects (font (size 1.27 1.27))))
|
||||
(number "37" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at -17.78 -20.32 0) (length 2.54)
|
||||
(name "PC7" (effects (font (size 1.27 1.27))))
|
||||
(number "38" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at -17.78 -22.86 0) (length 2.54)
|
||||
(name "PC8" (effects (font (size 1.27 1.27))))
|
||||
(number "39" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at -17.78 -40.64 0) (length 2.54)
|
||||
(name "PC15" (effects (font (size 1.27 1.27))))
|
||||
(number "4" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at -17.78 -25.4 0) (length 2.54)
|
||||
(name "PC9" (effects (font (size 1.27 1.27))))
|
||||
(number "40" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 17.78 180) (length 2.54)
|
||||
(name "PA8" (effects (font (size 1.27 1.27))))
|
||||
(number "41" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 15.24 180) (length 2.54)
|
||||
(name "PA9" (effects (font (size 1.27 1.27))))
|
||||
(number "42" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 12.7 180) (length 2.54)
|
||||
(name "PA10" (effects (font (size 1.27 1.27))))
|
||||
(number "43" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 10.16 180) (length 2.54)
|
||||
(name "PA11" (effects (font (size 1.27 1.27))))
|
||||
(number "44" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 7.62 180) (length 2.54)
|
||||
(name "PA12" (effects (font (size 1.27 1.27))))
|
||||
(number "45" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 5.08 180) (length 2.54)
|
||||
(name "PA13" (effects (font (size 1.27 1.27))))
|
||||
(number "46" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin power_in line (at 0 -45.72 90) (length 2.54)
|
||||
(name "VSS" (effects (font (size 1.27 1.27))))
|
||||
(number "47" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin power_in line (at 2.54 43.18 270) (length 2.54)
|
||||
(name "VDD" (effects (font (size 1.27 1.27))))
|
||||
(number "48" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin bidirectional line (at 17.78 2.54 180) (length 2.54)
|
||||
(name "PA14" (effects (font (size 1.27 1.27))))
|
||||
(number "49" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin input line (at -17.78 10.16 0) (length 2.54)
|
||||
(name "PH0" (effects (font (size 1.27 1.27))))
|
||||
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29917
controller/hw/motor_controller_50mm.kicad_pcb
Normal file
29917
controller/hw/motor_controller_50mm.kicad_pcb
Normal file
File diff suppressed because it is too large
Load diff
86
controller/hw/motor_controller_50mm.kicad_prl
Normal file
86
controller/hw/motor_controller_50mm.kicad_prl
Normal file
|
|
@ -0,0 +1,86 @@
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|
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|
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6,
|
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
32,
|
||||
33,
|
||||
34,
|
||||
35,
|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
971
controller/hw/motor_controller_50mm.kicad_pro
Normal file
971
controller/hw/motor_controller_50mm.kicad_pro
Normal file
|
|
@ -0,0 +1,971 @@
|
|||
{
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
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|
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|
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|
||||
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
||||
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|
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|
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|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"pattern": "Net-(D2-Pad2)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(D3-Pad2)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA1-Pad1)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA1-Pad2)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA1-Pad3)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA2-Pad10)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA2-Pad6)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA2-Pad7)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA3-Pad1)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA4-Pad1)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA5-Pad1)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA6-Pad1)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA6-Pad12)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA6-Pad13)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA6-Pad14)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA6-Pad2)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DA6-Pad5)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD1-Pad5)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad10)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad11)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad17)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad2)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad23)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad24)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad28)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad3)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad4)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad5)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad50)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad51)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad52)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad53)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad55)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad56)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(DD2-Pad6)"
|
||||
},
|
||||
{
|
||||
"netclass": "Default",
|
||||
"pattern": "Net-(xp1-Pad10)"
|
||||
}
|
||||
]
|
||||
},
|
||||
"pcbnew": {
|
||||
"last_paths": {
|
||||
"gencad": "",
|
||||
"idf": "",
|
||||
"netlist": "",
|
||||
"plot": "",
|
||||
"pos_files": "",
|
||||
"specctra_dsn": "",
|
||||
"step": "../../../../motor_controller_50mm_new.step",
|
||||
"svg": "",
|
||||
"vrml": ""
|
||||
},
|
||||
"page_layout_descr_file": ""
|
||||
},
|
||||
"schematic": {
|
||||
"annotate_start_num": 0,
|
||||
"bom_fmt_presets": [],
|
||||
"bom_fmt_settings": {
|
||||
"field_delimiter": ",",
|
||||
"keep_line_breaks": false,
|
||||
"keep_tabs": false,
|
||||
"name": "CSV",
|
||||
"ref_delimiter": ",",
|
||||
"ref_range_delimiter": "",
|
||||
"string_delimiter": "\""
|
||||
},
|
||||
"bom_presets": [],
|
||||
"bom_settings": {
|
||||
"exclude_dnp": true,
|
||||
"fields_ordered": [
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Reference",
|
||||
"name": "Reference",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "Value",
|
||||
"name": "Value",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Datasheet",
|
||||
"name": "Datasheet",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Footprint",
|
||||
"name": "Footprint",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Qty",
|
||||
"name": "${QUANTITY}",
|
||||
"show": false
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "DNP",
|
||||
"name": "${DNP}",
|
||||
"show": false
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "#",
|
||||
"name": "${ITEM_NUMBER}",
|
||||
"show": false
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Description",
|
||||
"name": "Description",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "manf#",
|
||||
"name": "manf#",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "digikey#",
|
||||
"name": "digikey#",
|
||||
"show": false
|
||||
}
|
||||
],
|
||||
"filter_string": "",
|
||||
"group_symbols": true,
|
||||
"name": "",
|
||||
"sort_asc": true,
|
||||
"sort_field": "Reference"
|
||||
},
|
||||
"connection_grid_size": 50.0,
|
||||
"drawing": {
|
||||
"dashed_lines_dash_length_ratio": 12.0,
|
||||
"dashed_lines_gap_length_ratio": 3.0,
|
||||
"default_line_thickness": 6.0,
|
||||
"default_text_size": 50.0,
|
||||
"field_names": [],
|
||||
"intersheets_ref_own_page": false,
|
||||
"intersheets_ref_prefix": "",
|
||||
"intersheets_ref_short": false,
|
||||
"intersheets_ref_show": false,
|
||||
"intersheets_ref_suffix": "",
|
||||
"junction_size_choice": 3,
|
||||
"label_size_ratio": 0.25,
|
||||
"operating_point_overlay_i_precision": 3,
|
||||
"operating_point_overlay_i_range": "~A",
|
||||
"operating_point_overlay_v_precision": 3,
|
||||
"operating_point_overlay_v_range": "~V",
|
||||
"overbar_offset_ratio": 1.23,
|
||||
"pin_symbol_size": 0.0,
|
||||
"text_offset_ratio": 0.08
|
||||
},
|
||||
"legacy_lib_dir": "",
|
||||
"legacy_lib_list": [],
|
||||
"meta": {
|
||||
"version": 1
|
||||
},
|
||||
"net_format_name": "",
|
||||
"page_layout_descr_file": "",
|
||||
"plot_directory": "",
|
||||
"spice_current_sheet_as_root": false,
|
||||
"spice_external_command": "spice \"%I\"",
|
||||
"spice_model_current_sheet_as_root": true,
|
||||
"spice_save_all_currents": false,
|
||||
"spice_save_all_dissipations": false,
|
||||
"spice_save_all_voltages": false,
|
||||
"subpart_first_id": 65,
|
||||
"subpart_id_separator": 0
|
||||
},
|
||||
"sheets": [
|
||||
[
|
||||
"59b011af-aa16-42e7-b91d-08a229fb46fa",
|
||||
"Root"
|
||||
]
|
||||
],
|
||||
"text_variables": {
|
||||
"rev": "0.4.2"
|
||||
}
|
||||
}
|
||||
22552
controller/hw/motor_controller_50mm.kicad_sch
Normal file
22552
controller/hw/motor_controller_50mm.kicad_sch
Normal file
File diff suppressed because it is too large
Load diff
4
controller/hw/sym-lib-table
Normal file
4
controller/hw/sym-lib-table
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
(sym_lib_table
|
||||
(version 7)
|
||||
(lib (name "motor_controller_50mm-rescue")(type "KiCad")(uri "${KIPRJMOD}/motor_controller_50mm-rescue.kicad_sym")(options "")(descr ""))
|
||||
)
|
||||
Loading…
Add table
Add a link
Reference in a new issue