Fix doc
This commit is contained in:
parent
6be663c914
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25 changed files with 405 additions and 26432 deletions
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# Встроенное ПО для сервипривода на STM32F446RE
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# Встроенное ПО для сервопривода на STM32F446RE
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## Для разработки
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## Для разработки
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- [Установить platformio](#introduction)
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- [Установить platformio](#introduction)
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```bash
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```bash
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pip install -U platformio
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pip install -U platformio
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```
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```
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- Установить python3
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```bash
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sudo apt install python3
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```
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- Устаноивть st-link
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```bash
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sudo apt install st-link
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```
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### Прошивка делится на два файла один для загрузчика другой для основной прошивки. Чтобы загрузить как описано ниже нужно находится в директории этого проекта. Нужно сделать как для bootloader так и для embed
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- [Скомпилировать проект](#build_project)
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- [Скомпилировать проект](#build_project)
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```bash
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```bash
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platformio run --environment robotroller_reborn
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platformio run --environment robotroller_reborn
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@ -14,23 +22,10 @@ platformio run --environment robotroller_reborn
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```bash
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```bash
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platformio run --target upload --environment robotroller_reborn
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platformio run --target upload --environment robotroller_reborn
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```
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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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## Для прошивки
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## Другой способ прошивки
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- [Установить python3]
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```bash
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sudo apt install python3
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```
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- [Устаноивть st-link]
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```bash
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sudo apt install st-link
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```
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## Выбор интерфейса прошивки
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## Выбор интерфейса прошивки
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### CAN
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### Для основной прошивки в директории ./embed
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- Если уже есть какя-то основная прошивка, то чтобы перепрошить другую прошивку, добавляем флаг для бутлоадера
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- Если уже есть какя-то основная прошивка, то чтобы перепрошить другую прошивку, добавляем флаг для бутлоадера
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```bash
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```bash
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python3 firmw_update_flag.py [адрес устройства]
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python3 firmw_update_flag.py [адрес устройства]
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@ -43,7 +38,10 @@ python3 firmware_can.py firmware.hex [адрес устройства]
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```bash
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```bash
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python3 st-link.py firmware.hex
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python3 st-link.py firmware.hex
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```
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```
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### St-link_full(полная прошивка без адресации)
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#### Прошивает и программатор и основную прошивку можно находится как в ./embed, так и в ./bootloader(в директории где есть данный тест в папке test).
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- Если до этого сохраняли адреса и данные, то они останутся даже при полной перепрошивке
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- Если бутлоадер не был прошит и FLASH микрокотроллера полностью стерта
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- Если бутлоадер не был прошит и FLASH микрокотроллера полностью стерта
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- [Скачать прошивку и бутлоадер в hex формате]
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- [Скачать прошивку и бутлоадер в hex формате]
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@ -55,6 +53,7 @@ python3 st-link_full.py bootloader.hex firmware.hex
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```
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```
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## Работа по CAN
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## Работа по CAN
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#### Для основной прошивки в директории ./embed
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- Установка адреса(если до этого не был установлен адрес, то адрес устройства = 0)
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- Установка адреса(если до этого не был установлен адрес, то адрес устройства = 0)
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```bash
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```bash
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python3 set_id.py [адрес устройства]
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python3 set_id.py [адрес устройства]
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@ -1,20 +0,0 @@
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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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#include "AS5045.h"
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MagneticSensorAS5045::MagneticSensorAS5045(uint16_t as5040_cs, uint16_t as5040_mosi, uint16_t as5040_miso,
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uint16_t as5040_sclk): AS5040_CS_(as5040_cs),
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AS5040_MOSI_(as5040_mosi),
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AS5040_MISO_(as5040_miso),
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AS5040_SCLK_(as5040_sclk),
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spi(nullptr),
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settings(AS5145SSISettings) {
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}
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MagneticSensorAS5045::~MagneticSensorAS5045() = default;
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auto MagneticSensorAS5045::init(SPIClass *_spi) -> void {
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this->spi = _spi;
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settings = AS5145SSISettings;
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pinMode(AS5040_CS_, OUTPUT);
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pinMode(AS5040_MISO_, INPUT);
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pinMode(AS5040_MOSI_, OUTPUT);
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pinMode(AS5040_SCLK_, OUTPUT);
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spi->setMISO(AS5040_MISO_);
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spi->setMOSI(AS5040_MOSI_);
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spi->setSCLK(AS5040_SCLK_);
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spi->begin();
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this->Sensor::init();
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}
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float MagneticSensorAS5045::getSensorAngle() {
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float angle_data = readRawAngleSSI();
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angle_data = (static_cast<float>(angle_data) / AS5045_CPR) * _2PI;
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return angle_data;
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}
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uint16_t MagneticSensorAS5045::readRawAngleSSI() const {
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spi->beginTransaction(settings);
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digitalWrite(AS5040_CS_, LOW);
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uint16_t value = spi->transfer16(0x0000);
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digitalWrite(AS5040_CS_, HIGH);
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spi->endTransaction();
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delayMicroseconds(30);
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return (value >> 3) & 0x1FFF; // TODO(vanyabeat): Add error checking MAGNETIC OWERFLOW and etc.
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}
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#pragma once
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#include "SimpleFOC.h"
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#include "SPI.h"
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#ifndef MSBFIRST
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#define MSBFIRST BitOrder::MSBFIRST
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#endif
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#define AS5045_BITORDER MSBFIRST
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#define AS5045_CPR 4096.0f
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#define _2PI 6.28318530718f
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static SPISettings AS5145SSISettings(1000000, AS5045_BITORDER, SPI_MODE0);
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class MagneticSensorAS5045 final: public Sensor {
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public:
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MagneticSensorAS5045(uint16_t as5040_cs, uint16_t as5040_mosi, uint16_t as5040_miso, uint16_t as5040_sclk);
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virtual ~MagneticSensorAS5045();
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float getSensorAngle() override;
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virtual void init(SPIClass *_spi = &SPI);
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[[nodiscard]] uint16_t readRawAngleSSI() const;
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private:
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uint16_t AS5040_CS_, AS5040_MOSI_, AS5040_MISO_, AS5040_SCLK_;
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SPIClass *spi;
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SPISettings settings;
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};
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name=AS5045
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version=1.0.1
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author=vanyabeat <vanyabeat@protonmail.com>
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maintainer=vanyabeat <vanyabeat@protonmail.com>
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sentence=Simple library to work with AS5040 and Simple FOC (for Robotroller in Robosemmbler) Fork from https://github.com/runger1101001
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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.
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category=Device Control
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url=https://docs.simplefoc.com
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architectures=*
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includes=SimpleFOC.h
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#include "DRV8313.h"
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DRV8313Driver::DRV8313Driver(int phA, int phB, int phC, int en1, int en2, int en3, int slp, int rst,
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int flt) : BLDCDriver3PWM(phA, phB, phC, en1, en2, en3), slp_pin(slp), rst_pin(rst),
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flt_pin(flt) {
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}
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int DRV8313Driver::init() {
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// Get state from flt pin
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if (_isset(flt_pin)) {
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pinMode(flt_pin, INPUT);
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if (digitalRead(flt_pin) == HIGH) {
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// if the fault pin is high the driver is in fault state
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// reset the driver
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if (_isset(rst_pin)) {
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pinMode(rst_pin, OUTPUT);
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digitalWrite(rst_pin, LOW);
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delay(1);
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digitalWrite(rst_pin, HIGH);
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delay(1);
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}
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}
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}
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return BLDCDriver3PWM::init();
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}
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void DRV8313Driver::enable() {
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// Enable the driver
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if (_isset(slp_pin)) {
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pinMode(slp_pin, OUTPUT);
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digitalWrite(slp_pin, HIGH);
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}
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BLDCDriver3PWM::enable();
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}
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void DRV8313Driver::disable() {
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if (_isset(slp_pin)) {
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pinMode(slp_pin, OUTPUT);
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digitalWrite(slp_pin, LOW);
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}
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BLDCDriver3PWM::disable();
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}
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#pragma once
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#include "SimpleFOC.h"
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class DRV8313Driver : public BLDCDriver3PWM {
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public:
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DRV8313Driver(int phA, int phB, int phC, int en1 = NOT_SET, int en2 = NOT_SET, int en3 = NOT_SET, int slp = NOT_SET,
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int rst = NOT_SET, int flt = NOT_SET);
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int init() override;
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void enable() override;
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void disable() override;
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private:
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int slp_pin;
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int rst_pin;
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int flt_pin;
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};
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name=DRV8313 Simple FOC
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version=1.0.0
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author=vanyabeat <vanyabeat@protonmail.com>
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maintainer=vanyabeat <vanyabeat@protonmail.com>
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sentence=Simple library to work with DRV8313 and Simple FOC (for Robotroller in Robosemmbler)
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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.
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category=Device Control
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url=https://docs.simplefoc.com
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architectures=*
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includes=SimpleFOC.h
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@ -1,46 +0,0 @@
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This directory is intended for project specific (private) libraries.
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PlatformIO will compile them to static libraries and link into executable file.
|
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The source code of each library should be placed in a an own separate directory
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("lib/your_library_name/[here are source files]").
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For example, see a structure of the following two libraries `Foo` and `Bar`:
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|--lib
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||||||
| |
|
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||||||
| |--Bar
|
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||||||
| | |--docs
|
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||||||
| | |--examples
|
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||||||
| | |--src
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||||||
| | |- Bar.c
|
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||||||
| | |- Bar.h
|
|
||||||
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
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||||||
| |
|
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||||||
| |--Foo
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| | |- Foo.c
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||||||
| | |- Foo.h
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||||||
| |
|
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||||||
| |- README --> THIS FILE
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|- platformio.ini
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|--src
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|- main.c
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and a contents of `src/main.c`:
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```
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#include <Foo.h>
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#include <Bar.h>
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int main (void)
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{
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||||||
...
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}
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```
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PlatformIO Library Dependency Finder will find automatically dependent
|
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libraries scanning project source files.
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|
||||||
|
|
||||||
More information about PlatformIO Library Dependency Finder
|
|
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- https://docs.platformio.org/page/librarymanager/ldf.html
|
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|
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@ -1,86 +0,0 @@
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# CAN Communication Scripts
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This repository contains Python scripts for testing and interacting with a CAN bus system. These scripts enable sending and receiving CAN messages to control a motor, set angles, and adjust velocities.
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## Prerequisites
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1. **Python 3.7+** installed on your system.
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2. **`python-can` library** installed. Install it via pip:
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```bash
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pip install python-can
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```
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3. **SocketCAN interface** properly configured on your Linux system. The default channel is `can0`.
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## Usage
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### 1. Receiving CAN Messages
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The script `python_can.py` listens to the CAN bus and processes incoming messages.
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#### Run:
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```bash
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python3 python_can.py
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```
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#### Features:
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- Processes messages with data length 5.
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- Parses the first byte (`flag`) to determine the type:
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- `'A'`: Angle (float).
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- `'V'`: Velocity (float).
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- `'E'`: Enable/disable status (boolean).
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### 2. Enabling or Disabling the Motor
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The script `python_enable_motor.py` sends commands to enable or disable the motor.
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#### Run:
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```bash
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python3 python_enable_motor.py <0|1>
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```
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#### Arguments:
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- `0`: Disable the motor.
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- `1`: Enable the motor.
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### 3. Sending Target Angle
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The script `python_send_angle.py` sends a target angle to the CAN bus.
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#### Run:
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```bash
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python3 python_send_angle.py
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```
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#### Behavior:
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|
||||||
- Sends a message with a predefined target angle every second.
|
|
||||||
- Adjust the target angle in the script (`target_angle` variable).
|
|
||||||
|
|
||||||
### 4. Sending Target Velocity
|
|
||||||
|
|
||||||
The script `python_send_velocity.py` sends a target velocity to the CAN bus.
|
|
||||||
|
|
||||||
#### Run:
|
|
||||||
```bash
|
|
||||||
python3 python_send_velocity.py
|
|
||||||
```
|
|
||||||
|
|
||||||
#### Behavior:
|
|
||||||
- Sends a message with a predefined target velocity every second.
|
|
||||||
- Adjust the target velocity in the script (`target_speed` variable).
|
|
||||||
|
|
||||||
## Configuration
|
|
||||||
|
|
||||||
### CAN Interface
|
|
||||||
The scripts use the following default CAN bus settings:
|
|
||||||
- **Channel**: `can0`
|
|
||||||
- **Bitrate**: `1 Mbps`
|
|
||||||
|
|
||||||
If your configuration differs, update the `Bus()` initialization in the scripts.
|
|
||||||
|
|
||||||
## Troubleshooting
|
|
||||||
|
|
||||||
1. **"Error initializing CAN bus"**:
|
|
||||||
- Ensure your CAN interface is correctly configured and active:
|
|
||||||
```bash
|
|
||||||
sudo ip link set can0 up type can bitrate 1000000
|
|
||||||
```
|
|
||||||
141
controller/fw/bootloader/test/firmware_can.py
Normal file
141
controller/fw/bootloader/test/firmware_can.py
Normal file
|
|
@ -0,0 +1,141 @@
|
||||||
|
import can
|
||||||
|
import sys
|
||||||
|
import time
|
||||||
|
from intelhex import IntelHex
|
||||||
|
# Конфигурация
|
||||||
|
CAN_CHANNEL = 'socketcan'
|
||||||
|
CAN_INTERFACE = 'can0'
|
||||||
|
CAN_BITRATE = 1000000
|
||||||
|
#ch =int(input("Введите id устройства:"))
|
||||||
|
ch = int(sys.argv[2])
|
||||||
|
BOOT_CAN_ID = (ch * 16) + 1
|
||||||
|
DATA_CAN_ID = (ch * 16) + 3
|
||||||
|
BOOT_CAN_END = (ch * 16) + 2
|
||||||
|
ACK_CAN_ID = 0x05
|
||||||
|
|
||||||
|
#конфиг для crc16 ibm
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
def debug_print(msg):
|
||||||
|
print(f"[DEBUG] {msg}")
|
||||||
|
|
||||||
|
def calculate_crc16(data: bytes) -> int:
|
||||||
|
crc = 0xFFFF
|
||||||
|
for byte in data:
|
||||||
|
crc ^= byte
|
||||||
|
for _ in range(8):
|
||||||
|
if crc & 0x0001:
|
||||||
|
crc = (crc >> 1) ^ 0xA001
|
||||||
|
else:
|
||||||
|
crc >>= 1
|
||||||
|
return crc
|
||||||
|
|
||||||
|
def send_firmware(hex_file):
|
||||||
|
try:
|
||||||
|
debug_print("Инициализация CAN...")
|
||||||
|
bus = can.interface.Bus(
|
||||||
|
channel=CAN_INTERFACE,
|
||||||
|
bustype=CAN_CHANNEL,
|
||||||
|
bitrate=CAN_BITRATE
|
||||||
|
)
|
||||||
|
|
||||||
|
debug_print("Чтение HEX-файла...")
|
||||||
|
ih = IntelHex(hex_file)
|
||||||
|
binary_data = ih.tobinstr() # Исправлено на tobinstr()
|
||||||
|
fw_size = len(binary_data)
|
||||||
|
debug_print(f"Размер прошивки: {fw_size} байт")
|
||||||
|
|
||||||
|
# Расчет CRC
|
||||||
|
debug_print("Расчёт CRC...")
|
||||||
|
# calculator = Calculator(Crc16.IBM)
|
||||||
|
fw_crc = calculate_crc16(binary_data)
|
||||||
|
debug_print(f"CRC: 0x{fw_crc:04X}")
|
||||||
|
|
||||||
|
# Отправка START
|
||||||
|
start_data = bytearray([0x01])
|
||||||
|
start_data += fw_size.to_bytes(4, 'little')
|
||||||
|
start_data += fw_crc.to_bytes(2, 'little')
|
||||||
|
|
||||||
|
debug_print(f"START: {list(start_data)}")
|
||||||
|
start_msg = can.Message(
|
||||||
|
arbitration_id=BOOT_CAN_ID,
|
||||||
|
data=bytes(start_data),
|
||||||
|
is_extended_id=False
|
||||||
|
)
|
||||||
|
|
||||||
|
try:
|
||||||
|
bus.send(start_msg)
|
||||||
|
except can.CanError as e:
|
||||||
|
debug_print(f"Ошибка отправки START: {str(e)}")
|
||||||
|
return
|
||||||
|
|
||||||
|
# Ожидание ACK
|
||||||
|
debug_print("Ожидание ACK...")
|
||||||
|
ack = wait_for_ack(bus)
|
||||||
|
if not ack:
|
||||||
|
debug_print("Таймаут ACK START")
|
||||||
|
return
|
||||||
|
debug_print(f"Получен ACK: {list(ack.data)}")
|
||||||
|
|
||||||
|
# Отправка данных
|
||||||
|
packet_size = 8
|
||||||
|
for i in range(0, len(binary_data), packet_size):
|
||||||
|
chunk = binary_data[i:i+packet_size]
|
||||||
|
# Дополнение до 8 байт
|
||||||
|
if len(chunk) < 8:
|
||||||
|
chunk += b'\xFF' * (8 - len(chunk))
|
||||||
|
|
||||||
|
debug_print(f"Пакет {i//8}: {list(chunk)}")
|
||||||
|
data_msg = can.Message(
|
||||||
|
arbitration_id=DATA_CAN_ID,
|
||||||
|
data=chunk,
|
||||||
|
is_extended_id=False
|
||||||
|
)
|
||||||
|
|
||||||
|
try:
|
||||||
|
bus.send(data_msg)
|
||||||
|
except can.CanError as e:
|
||||||
|
debug_print(f"Ошибка отправки данных: {str(e)}")
|
||||||
|
return
|
||||||
|
|
||||||
|
ack = wait_for_ack(bus)
|
||||||
|
if not ack:
|
||||||
|
debug_print("Таймаут ACK DATA")
|
||||||
|
return
|
||||||
|
|
||||||
|
# Финал
|
||||||
|
debug_print("Отправка FINISH...")
|
||||||
|
finish_msg = can.Message(
|
||||||
|
arbitration_id=BOOT_CAN_END,
|
||||||
|
data=bytes([0xAA]),
|
||||||
|
is_extended_id=False
|
||||||
|
)
|
||||||
|
bus.send(finish_msg)
|
||||||
|
|
||||||
|
ack = wait_for_ack(bus, timeout=1.0)
|
||||||
|
if ack and ack.data[0] == 0xAA:
|
||||||
|
debug_print("Прошивка подтверждена!")
|
||||||
|
else:
|
||||||
|
debug_print("Ошибка верификации!")
|
||||||
|
|
||||||
|
except Exception as e:
|
||||||
|
debug_print(f"Критическая ошибка: {str(e)}")
|
||||||
|
finally:
|
||||||
|
bus.shutdown()
|
||||||
|
|
||||||
|
def wait_for_ack(bus, timeout=1.0):
|
||||||
|
start_time = time.time()
|
||||||
|
while time.time() - start_time < timeout:
|
||||||
|
msg = bus.recv(timeout=0.1) # Неблокирующий режим
|
||||||
|
if msg and msg.arbitration_id == ACK_CAN_ID:
|
||||||
|
return msg
|
||||||
|
return None
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
import sys
|
||||||
|
if len(sys.argv) != 3:
|
||||||
|
print("Использование: sudo python3 can_flasher.py firmware.hex")
|
||||||
|
sys.exit(1)
|
||||||
|
|
||||||
|
send_firmware(sys.argv[1])
|
||||||
70
controller/fw/bootloader/test/firmware_update_flag.py
Normal file
70
controller/fw/bootloader/test/firmware_update_flag.py
Normal file
|
|
@ -0,0 +1,70 @@
|
||||||
|
import can
|
||||||
|
import time
|
||||||
|
import sys
|
||||||
|
# Конфигурация
|
||||||
|
CAN_INTERFACE = 'can0'
|
||||||
|
OLD_DEVICE_ID = int(sys.argv[1]) # Текущий ID устройства (по умолчанию)
|
||||||
|
REG_WRITE = 0x8 # Код команды чтения
|
||||||
|
REG_ID = 0x55 # Адрес регистра с Firmware Update
|
||||||
|
|
||||||
|
def send_can_message(bus, can_id, data):
|
||||||
|
"""Отправка CAN-сообщения"""
|
||||||
|
try:
|
||||||
|
msg = can.Message(
|
||||||
|
arbitration_id=can_id,
|
||||||
|
data=data,
|
||||||
|
is_extended_id=False
|
||||||
|
)
|
||||||
|
bus.send(msg)
|
||||||
|
print(f"[Отправка] CAN ID: 0x{can_id:03X}, Данные: {list(data)}")
|
||||||
|
return True
|
||||||
|
except can.CanError as e:
|
||||||
|
print(f"Ошибка CAN: {e}")
|
||||||
|
return False
|
||||||
|
|
||||||
|
|
||||||
|
def validate_crc16(data):
|
||||||
|
"""Расчет CRC16 (MODBUS) для проверки целостности данных"""
|
||||||
|
crc = 0xFFFF
|
||||||
|
for byte in data:
|
||||||
|
crc ^= byte
|
||||||
|
for _ in range(8):
|
||||||
|
if crc & 0x0001:
|
||||||
|
crc = (crc >> 1) ^ 0xA001
|
||||||
|
else:
|
||||||
|
crc >>= 1
|
||||||
|
return crc
|
||||||
|
|
||||||
|
# Инициализация CAN-интерфейса
|
||||||
|
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
|
||||||
|
|
||||||
|
# ======= 1. Запрос текущего ID устройства =======
|
||||||
|
|
||||||
|
# Формируем CAN ID для чтения: (OLD_DEVICE_ID << 4) | REG_READ
|
||||||
|
can_id_read = (OLD_DEVICE_ID << 4) | REG_WRITE
|
||||||
|
|
||||||
|
# Данные для запроса: [регистр, резервный байт]
|
||||||
|
data_read = [REG_ID, 0x00]
|
||||||
|
|
||||||
|
# Формируем полные данные для расчета CRC:
|
||||||
|
# - CAN ID разбивается на 2 байта (little-endian)
|
||||||
|
# - Добавляем данные запроса
|
||||||
|
full_data_for_crc = list(can_id_read.to_bytes(2, 'little')) + data_read
|
||||||
|
|
||||||
|
# Рассчитываем CRC и разбиваем на байты (little-endian)
|
||||||
|
crc = validate_crc16(full_data_for_crc)
|
||||||
|
crc_bytes = list(crc.to_bytes(2, 'little'))
|
||||||
|
|
||||||
|
# Собираем итоговый пакет: данные + CRC
|
||||||
|
packet_read = data_read + crc_bytes
|
||||||
|
|
||||||
|
print("Переход в boot режим", packet_read)
|
||||||
|
send_can_message(bus, can_id_read, packet_read)
|
||||||
|
|
||||||
|
bus.shutdown()
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
import sys
|
||||||
|
if len(sys.argv) != 2:
|
||||||
|
print("Использование: python3 firmware_test.py address")
|
||||||
|
sys.exit(1)
|
||||||
|
|
@ -1,47 +0,0 @@
|
||||||
import can
|
|
||||||
import struct
|
|
||||||
import time
|
|
||||||
|
|
||||||
def process_can_message(msg):
|
|
||||||
if msg.dlc == 5: # Check the message length
|
|
||||||
print(f"Received message with ID: {msg.arbitration_id}")
|
|
||||||
print(f"Data: {msg.data}")
|
|
||||||
|
|
||||||
# The first byte determines the data type (flag)
|
|
||||||
flag = chr(msg.data[0])
|
|
||||||
|
|
||||||
if flag == 'A': # Angle
|
|
||||||
angle_bytes = msg.data[1:5]
|
|
||||||
angle = struct.unpack('<f', bytes(angle_bytes))[0]
|
|
||||||
print(f"Angle: {angle} degrees")
|
|
||||||
elif flag == 'V': # Velocity
|
|
||||||
velocity_bytes = msg.data[1:5]
|
|
||||||
velocity = struct.unpack('<f', bytes(velocity_bytes))[0]
|
|
||||||
print(f"Velocity: {velocity} rad/s")
|
|
||||||
elif flag == 'E' and msg.dlc >= 2: # Enable/Disable
|
|
||||||
enabled = msg.data[1] # Expecting 1 byte (0 or 1)
|
|
||||||
print(f"Enabled: {bool(enabled)}")
|
|
||||||
else:
|
|
||||||
print(f"Unknown flag: {flag}")
|
|
||||||
else:
|
|
||||||
print(f"Received message with unexpected length: {msg.dlc}")
|
|
||||||
|
|
||||||
def receive_can_messages():
|
|
||||||
try:
|
|
||||||
# Connect to the CAN bus
|
|
||||||
bus = can.interface.Bus(channel='can0', bustype='socketcan')
|
|
||||||
|
|
||||||
print("Waiting for messages on the CAN bus...")
|
|
||||||
|
|
||||||
while True:
|
|
||||||
msg = bus.recv()
|
|
||||||
if msg:
|
|
||||||
process_can_message(msg)
|
|
||||||
|
|
||||||
except KeyboardInterrupt:
|
|
||||||
print("\nExiting program...")
|
|
||||||
except Exception as e:
|
|
||||||
print(f"Error: {e}")
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
receive_can_messages()
|
|
||||||
|
|
@ -1,54 +0,0 @@
|
||||||
import can
|
|
||||||
import sys
|
|
||||||
|
|
||||||
# Function to send the motor enable/disable command
|
|
||||||
def send_motor_enable(bus, enable):
|
|
||||||
"""
|
|
||||||
Sends a command to enable or disable the motor.
|
|
||||||
|
|
||||||
:param bus: The CAN bus
|
|
||||||
:param enable: 1 to enable the motor, 0 to disable it
|
|
||||||
"""
|
|
||||||
msg = can.Message()
|
|
||||||
msg.arbitration_id = 1 # Message ID
|
|
||||||
msg.is_extended_id = False
|
|
||||||
msg.dlc = 2 # Message length (flag + 1 byte of data)
|
|
||||||
msg.data = [ord('E'), enable] # 'E' for the command, followed by 0 or 1
|
|
||||||
|
|
||||||
try:
|
|
||||||
bus.send(msg)
|
|
||||||
state = "enabled" if enable else "disabled"
|
|
||||||
print(f"Sent message to {state} motor")
|
|
||||||
print(f"Message data: {msg.data}")
|
|
||||||
except can.CanError as e:
|
|
||||||
print(f"Message failed to send: {e}")
|
|
||||||
sys.exit(1) # Exit the program on failure
|
|
||||||
|
|
||||||
def main():
|
|
||||||
# CAN interface setup
|
|
||||||
bus = None # Define outside the try block for proper shutdown
|
|
||||||
try:
|
|
||||||
bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=1000000) # Ensure the bitrate matches the microcontroller settings
|
|
||||||
print("CAN bus initialized.")
|
|
||||||
|
|
||||||
# Ensure the state is passed via arguments
|
|
||||||
if len(sys.argv) != 2 or sys.argv[1] not in ['0', '1']:
|
|
||||||
print("Usage: python3 script_name.py <0|1>")
|
|
||||||
print("0 - Disable motor, 1 - Enable motor")
|
|
||||||
sys.exit(1)
|
|
||||||
|
|
||||||
enable = int(sys.argv[1])
|
|
||||||
send_motor_enable(bus, enable)
|
|
||||||
|
|
||||||
except Exception as e:
|
|
||||||
print(f"Error initializing CAN bus: {e}")
|
|
||||||
sys.exit(1)
|
|
||||||
|
|
||||||
finally:
|
|
||||||
# Ensure the bus is properly shut down
|
|
||||||
if bus is not None:
|
|
||||||
bus.shutdown()
|
|
||||||
print("CAN bus shut down.")
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
main()
|
|
||||||
|
|
@ -1,37 +0,0 @@
|
||||||
import can
|
|
||||||
import struct
|
|
||||||
import time
|
|
||||||
import argparse
|
|
||||||
|
|
||||||
# Function to send the target angle
|
|
||||||
def send_target_angle(bus, target_angle):
|
|
||||||
msg = can.Message()
|
|
||||||
msg.arbitration_id = 1 # Message ID
|
|
||||||
msg.is_extended_id = False
|
|
||||||
msg.dlc = 5 # Message length
|
|
||||||
msg.data = [ord('A')] + list(struct.pack('<f', target_angle)) # 'A' for the command identifier, followed by the angle in float format
|
|
||||||
|
|
||||||
try:
|
|
||||||
bus.send(msg)
|
|
||||||
print(f"Sent message with target angle: {target_angle} degrees")
|
|
||||||
print(f"Message data: {msg.data}")
|
|
||||||
except can.CanError:
|
|
||||||
print("Message failed to send")
|
|
||||||
|
|
||||||
# Main function
|
|
||||||
def main():
|
|
||||||
parser = argparse.ArgumentParser(description="Send target angles over CAN bus.")
|
|
||||||
parser.add_argument("--angle", type=float, required=True, help="Target angle to send over the CAN bus")
|
|
||||||
args = parser.parse_args()
|
|
||||||
|
|
||||||
target_angle = args.angle
|
|
||||||
|
|
||||||
# CAN interface setup
|
|
||||||
bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=1000000) # Ensure the bitrate matches the microcontroller settings
|
|
||||||
print("CAN bus initialized, sending target angles...")
|
|
||||||
|
|
||||||
# Loop to send messages
|
|
||||||
send_target_angle(bus, target_angle)
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
main()
|
|
||||||
|
|
@ -1,76 +0,0 @@
|
||||||
import can
|
|
||||||
import struct
|
|
||||||
import time
|
|
||||||
import sys
|
|
||||||
|
|
||||||
# Function to send the target speed
|
|
||||||
def send_target_speed(bus, target_speed):
|
|
||||||
msg = can.Message()
|
|
||||||
msg.arbitration_id = 1 # Message ID
|
|
||||||
msg.is_extended_id = False
|
|
||||||
msg.dlc = 5 # Message length
|
|
||||||
msg.data = bytearray([ord('V')] + list(struct.pack('<f', target_speed))) # 'V' for the command identifier, followed by the speed in float format
|
|
||||||
|
|
||||||
try:
|
|
||||||
bus.send(msg)
|
|
||||||
print(f"Sent message with target speed: {target_speed} rad/s")
|
|
||||||
except can.CanError:
|
|
||||||
print("Message failed to send")
|
|
||||||
|
|
||||||
# Function to send the motor enable/disable command
|
|
||||||
def send_motor_enable(bus, enable):
|
|
||||||
"""
|
|
||||||
Sends a command to enable or disable the motor.
|
|
||||||
|
|
||||||
:param bus: The CAN bus
|
|
||||||
:param enable: 1 to enable the motor, 0 to disable it
|
|
||||||
"""
|
|
||||||
msg = can.Message()
|
|
||||||
msg.arbitration_id = 1 # Message ID
|
|
||||||
msg.is_extended_id = False
|
|
||||||
msg.dlc = 2 # Message length (flag + 1 byte of data)
|
|
||||||
msg.data = bytearray([ord('E'), enable]) # 'E' for the command, followed by 0 or 1
|
|
||||||
|
|
||||||
try:
|
|
||||||
bus.send(msg)
|
|
||||||
state = "enabled" if enable else "disabled"
|
|
||||||
print(f"Sent message to {state} motor")
|
|
||||||
except can.CanError as e:
|
|
||||||
print(f"Message failed to send: {e}")
|
|
||||||
sys.exit(1) # Exit the program on failure
|
|
||||||
|
|
||||||
send_target_speed(bus,0.0)
|
|
||||||
|
|
||||||
def main():
|
|
||||||
# CAN interface setup
|
|
||||||
bus = None # Define outside the try block for proper shutdown
|
|
||||||
try:
|
|
||||||
bus = can.interface.Bus(channel='COM4', bustype='slcan', bitrate=1000000) # Ensure the bitrate matches the microcontroller settings
|
|
||||||
print("CAN bus initialized.")
|
|
||||||
|
|
||||||
while True:
|
|
||||||
user_input = input("Enter target speed: ")
|
|
||||||
if user_input.lower() == 'exit':
|
|
||||||
print("Exiting...")
|
|
||||||
break
|
|
||||||
try:
|
|
||||||
target_speed = float(user_input)
|
|
||||||
send_target_speed(bus, target_speed)
|
|
||||||
except ValueError:
|
|
||||||
print("Invalid input. Please enter a valid number.")
|
|
||||||
|
|
||||||
# Disable motor before exiting
|
|
||||||
send_motor_enable(bus, 0)
|
|
||||||
print("Motor disabled.")
|
|
||||||
|
|
||||||
except Exception as e:
|
|
||||||
print(f"Error initializing1 CAN bus: {e}")
|
|
||||||
sys.exit(1)
|
|
||||||
|
|
||||||
finally:
|
|
||||||
if bus is not None:
|
|
||||||
bus.shutdown()
|
|
||||||
print("CAN bus shut down.")
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
main()
|
|
||||||
|
|
@ -1,73 +0,0 @@
|
||||||
import can
|
|
||||||
import time
|
|
||||||
|
|
||||||
def send_write_read_requests():
|
|
||||||
try:
|
|
||||||
bus = can.interface.Bus(channel='can0', bustype='socketcan')
|
|
||||||
|
|
||||||
# Конфигурация сообщений (ЗАПОЛНИТЕ ВАШИ ЗНАЧЕНИЯ)
|
|
||||||
write_msg = {
|
|
||||||
'arbitration_id': 0x01, # CAN ID для записи
|
|
||||||
'data': [0x27, 0xA0, 0xFF, 0x00], # Данные для записи (4 байта)
|
|
||||||
'description': "Установка id устройства"
|
|
||||||
}
|
|
||||||
|
|
||||||
read_msg = {
|
|
||||||
'arbitration_id': 0x01, # CAN ID для чтения
|
|
||||||
'data': [0xFF,0x99], # Адрес новый + команда запроса данных
|
|
||||||
'description': "Запрос id устройства",
|
|
||||||
'response_id': 0xFF, # Ожидаемый ID ответа
|
|
||||||
'timeout': 1.0 # Таймаут ожидания ответа (сек)
|
|
||||||
}
|
|
||||||
|
|
||||||
# 1. Отправка команды записи
|
|
||||||
print("Отправка команды записи...")
|
|
||||||
msg = can.Message(
|
|
||||||
arbitration_id=write_msg['arbitration_id'],
|
|
||||||
data=write_msg['data'],
|
|
||||||
is_extended_id=False
|
|
||||||
)
|
|
||||||
bus.send(msg)
|
|
||||||
print(f"Запись: ID={hex(msg.arbitration_id)}, Данные={list(msg.data)}")
|
|
||||||
|
|
||||||
# Ждем обработки команды устройством
|
|
||||||
time.sleep(2.0)
|
|
||||||
|
|
||||||
# 2. Отправка запроса чтения и ожидание ответа
|
|
||||||
print("\nОтправка запроса чтения...")
|
|
||||||
msg = can.Message(
|
|
||||||
arbitration_id=read_msg['arbitration_id'],
|
|
||||||
data=read_msg['data'],
|
|
||||||
is_extended_id=False
|
|
||||||
)
|
|
||||||
bus.send(msg)
|
|
||||||
print(f"Чтение: ID={hex(msg.arbitration_id)}, Команда={list(msg.data)}")
|
|
||||||
|
|
||||||
# Ожидаем ответа
|
|
||||||
start_time = time.time()
|
|
||||||
response_received = False
|
|
||||||
|
|
||||||
print("\nОжидание ответа...")
|
|
||||||
while (time.time() - start_time) < read_msg['timeout']:
|
|
||||||
response = bus.recv(timeout=0.1)
|
|
||||||
|
|
||||||
if response and response.arbitration_id == read_msg['response_id']:
|
|
||||||
print(f"\nПолучен ответ: ID={hex(response.arbitration_id)}")
|
|
||||||
print(f"Данные: {list(response.data)}")
|
|
||||||
print(f"Длина: {response.dlc} байт")
|
|
||||||
response_received = True
|
|
||||||
break
|
|
||||||
|
|
||||||
if not response_received:
|
|
||||||
print("\nОшибка: ответ не получен в течение заданного времени")
|
|
||||||
|
|
||||||
except KeyboardInterrupt:
|
|
||||||
print("\nПрерывание пользователем")
|
|
||||||
except Exception as e:
|
|
||||||
print(f"Ошибка: {str(e)}")
|
|
||||||
finally:
|
|
||||||
bus.shutdown()
|
|
||||||
print("\nCAN соединение закрыто")
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
send_write_read_requests()
|
|
||||||
|
|
@ -1,35 +0,0 @@
|
||||||
import can
|
|
||||||
import struct
|
|
||||||
import time
|
|
||||||
|
|
||||||
# Function to send the target speed
|
|
||||||
def send_target_speed(bus, target_speed):
|
|
||||||
msg = can.Message()
|
|
||||||
msg.arbitration_id = 1 # Message ID
|
|
||||||
msg.is_extended_id = False
|
|
||||||
msg.dlc = 5 # Message length
|
|
||||||
msg.data = [ord('V')] + list(struct.pack('<f', target_speed)) # 'V' for the command identifier, followed by the speed in float format
|
|
||||||
|
|
||||||
try:
|
|
||||||
bus.send(msg)
|
|
||||||
print(f"Sent message with target speed: {target_speed} m/s")
|
|
||||||
print(f"Message data: {msg.data}")
|
|
||||||
except can.CanError:
|
|
||||||
print("Message failed to send")
|
|
||||||
|
|
||||||
# Main function
|
|
||||||
def main():
|
|
||||||
# CAN interface setup
|
|
||||||
bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=1000000) # Ensure the bitrate matches the microcontroller settings
|
|
||||||
print("CAN bus initialized, sending target speed impulses...")
|
|
||||||
|
|
||||||
# Send impulses of target speed from -2 to 2 m/s
|
|
||||||
target_speeds = [-1, 1]
|
|
||||||
|
|
||||||
while True:
|
|
||||||
for speed in target_speeds:
|
|
||||||
send_target_speed(bus, speed)
|
|
||||||
time.sleep(1) # 1-second delay between messages
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
main()
|
|
||||||
78
controller/fw/bootloader/test/st-link.py
Normal file
78
controller/fw/bootloader/test/st-link.py
Normal file
|
|
@ -0,0 +1,78 @@
|
||||||
|
import subprocess
|
||||||
|
import os
|
||||||
|
import sys
|
||||||
|
|
||||||
|
def flash_hex_with_stlink(hex_file_path):
|
||||||
|
if not os.path.isfile(hex_file_path):
|
||||||
|
print(f"❌ Файл не найден: {hex_file_path}")
|
||||||
|
return False
|
||||||
|
|
||||||
|
command = [
|
||||||
|
"st-flash",
|
||||||
|
"--format", "ihex",
|
||||||
|
"write",
|
||||||
|
hex_file_path
|
||||||
|
]
|
||||||
|
|
||||||
|
try:
|
||||||
|
print(f"⚡️ Прошиваем {hex_file_path} через ST-Link...")
|
||||||
|
result = subprocess.run(
|
||||||
|
command,
|
||||||
|
stdout=subprocess.PIPE,
|
||||||
|
stderr=subprocess.PIPE,
|
||||||
|
universal_newlines=True,
|
||||||
|
timeout=30
|
||||||
|
)
|
||||||
|
|
||||||
|
print("▬▬▬ STDOUT ▬▬▬")
|
||||||
|
print(result.stdout)
|
||||||
|
|
||||||
|
print("▬▬▬ STDERR ▬▬▬")
|
||||||
|
print(result.stderr)
|
||||||
|
|
||||||
|
if result.returncode == 0:
|
||||||
|
print("✅ Прошивка успешно завершена!")
|
||||||
|
|
||||||
|
# Добавленный блок сброса
|
||||||
|
try:
|
||||||
|
print("🔄 Выполняем сброс устройства...")
|
||||||
|
reset_result = subprocess.run(
|
||||||
|
["st-info", "--reset"],
|
||||||
|
stdout=subprocess.PIPE,
|
||||||
|
stderr=subprocess.PIPE,
|
||||||
|
universal_newlines=True,
|
||||||
|
timeout=10
|
||||||
|
)
|
||||||
|
if reset_result.returncode == 0:
|
||||||
|
print("♻️ Устройство успешно сброшено!")
|
||||||
|
else:
|
||||||
|
print(f"⚠️ Ошибка (код: {reset_result.returncode})")
|
||||||
|
print("▬▬▬ STDERR сброса ▬▬▬")
|
||||||
|
print(reset_result.stderr)
|
||||||
|
except Exception as e:
|
||||||
|
print(f"⚠️ Ошибка при сбросе: {str(e)}")
|
||||||
|
|
||||||
|
return True
|
||||||
|
else:
|
||||||
|
print(f"❌ Ошибка прошивки (код: {result.returncode})")
|
||||||
|
return False
|
||||||
|
|
||||||
|
except FileNotFoundError:
|
||||||
|
print("❌ st-flash не найден! Установите stlink-tools.")
|
||||||
|
return False
|
||||||
|
except subprocess.TimeoutExpired:
|
||||||
|
print("❌ Таймаут операции! Проверьте подключение ST-Link.")
|
||||||
|
return False
|
||||||
|
except Exception as e:
|
||||||
|
print(f"❌ Неизвестная ошибка: {str(e)}")
|
||||||
|
return False
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
if len(sys.argv) != 2:
|
||||||
|
print("Использование: python stlink_flash.py <firmware.hex>")
|
||||||
|
sys.exit(1)
|
||||||
|
|
||||||
|
if flash_hex_with_stlink(sys.argv[1]):
|
||||||
|
sys.exit(0)
|
||||||
|
else:
|
||||||
|
sys.exit(1)
|
||||||
100
controller/fw/bootloader/test/st-link_full.py
Normal file
100
controller/fw/bootloader/test/st-link_full.py
Normal file
|
|
@ -0,0 +1,100 @@
|
||||||
|
import subprocess
|
||||||
|
import os
|
||||||
|
import sys
|
||||||
|
import time
|
||||||
|
|
||||||
|
def flash_hex_with_stlink(hex_file_path, component_name):
|
||||||
|
if not os.path.isfile(hex_file_path):
|
||||||
|
print(f"❌ Файл {component_name} не найден: {hex_file_path}")
|
||||||
|
return False
|
||||||
|
|
||||||
|
command = [
|
||||||
|
"st-flash",
|
||||||
|
"--format", "ihex",
|
||||||
|
"write",
|
||||||
|
hex_file_path
|
||||||
|
]
|
||||||
|
|
||||||
|
try:
|
||||||
|
print(f"⚡️ Прошиваем {component_name} ({hex_file_path}) через ST-Link...")
|
||||||
|
result = subprocess.run(
|
||||||
|
command,
|
||||||
|
stdout=subprocess.PIPE,
|
||||||
|
stderr=subprocess.PIPE,
|
||||||
|
universal_newlines=True,
|
||||||
|
timeout=30
|
||||||
|
)
|
||||||
|
|
||||||
|
print("▬▬▬ STDOUT ▬▬▬")
|
||||||
|
print(result.stdout)
|
||||||
|
|
||||||
|
print("▬▬▬ STDERR ▬▬▬")
|
||||||
|
print(result.stderr)
|
||||||
|
|
||||||
|
if result.returncode == 0:
|
||||||
|
print(f"✅ {component_name} успешно прошит!")
|
||||||
|
return True
|
||||||
|
else:
|
||||||
|
print(f"❌ Ошибка прошивки {component_name} (код: {result.returncode})")
|
||||||
|
return False
|
||||||
|
|
||||||
|
except FileNotFoundError:
|
||||||
|
print("❌ st-flash не найден! Установите stlink-tools.")
|
||||||
|
return False
|
||||||
|
except subprocess.TimeoutExpired:
|
||||||
|
print(f"❌ Таймаут операции при прошивке {component_name}! Проверьте подключение ST-Link.")
|
||||||
|
return False
|
||||||
|
except Exception as e:
|
||||||
|
print(f"❌ Неизвестная ошибка при прошивке {component_name}: {str(e)}")
|
||||||
|
return False
|
||||||
|
|
||||||
|
def reset_device():
|
||||||
|
try:
|
||||||
|
print("🔄 Выполняем сброс(перезагрузку) устройства...")
|
||||||
|
reset_result = subprocess.run(
|
||||||
|
["st-info", "--reset"],
|
||||||
|
stdout=subprocess.PIPE,
|
||||||
|
stderr=subprocess.PIPE,
|
||||||
|
universal_newlines=True,
|
||||||
|
timeout=10
|
||||||
|
)
|
||||||
|
if reset_result.returncode == 0:
|
||||||
|
print("♻️ Устройство успешно сброшено!")
|
||||||
|
return True
|
||||||
|
else:
|
||||||
|
print(f"⚠️ Ошибка при сбросе (код: {reset_result.returncode})")
|
||||||
|
print("▬▬▬ STDERR сброса ▬▬▬")
|
||||||
|
print(reset_result.stderr)
|
||||||
|
return False
|
||||||
|
except Exception as e:
|
||||||
|
print(f"⚠️ Ошибка при сбросе: {str(e)}")
|
||||||
|
return False
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
if len(sys.argv) != 3:
|
||||||
|
print("Использование: python stlink_flash.py <bootloader.hex> <application.hex>")
|
||||||
|
print("Пример: python stlink_flash.py bootloader.hex firmware.hex")
|
||||||
|
sys.exit(1)
|
||||||
|
|
||||||
|
bootloader_path = sys.argv[1]
|
||||||
|
app_path = sys.argv[2]
|
||||||
|
|
||||||
|
# Прошиваем сначала бутлоадер
|
||||||
|
if not flash_hex_with_stlink(bootloader_path, "Bootloader"):
|
||||||
|
print("\n💥 Ошибка прошивки бутлоадера!")
|
||||||
|
sys.exit(1)
|
||||||
|
|
||||||
|
# Сбрасываем устройство после прошивки бутлоадера
|
||||||
|
reset_device()
|
||||||
|
time.sleep(1) # Короткая пауза
|
||||||
|
|
||||||
|
# Прошиваем основное приложение
|
||||||
|
if not flash_hex_with_stlink(app_path, "Application"):
|
||||||
|
print("\n💥 Ошибка прошивки основного приложения!")
|
||||||
|
sys.exit(1)
|
||||||
|
|
||||||
|
# Финальный сброс устройства
|
||||||
|
reset_device()
|
||||||
|
|
||||||
|
print("\n🎉 Все компоненты успешно прошиты!")
|
||||||
|
sys.exit(0)
|
||||||
|
|
@ -31,11 +31,9 @@ FLASH_EraseInitTypeDef pEraseInit;
|
||||||
uint32_t SectorError;
|
uint32_t SectorError;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
/* bool for test CAN */
|
/* bool for test CAN */
|
||||||
volatile bool CAN_GET = false;
|
volatile bool CAN_GET = false;
|
||||||
|
|
||||||
|
|
||||||
volatile float kt = 0.1; // Torque calculation constant
|
volatile float kt = 0.1; // Torque calculation constant
|
||||||
|
|
||||||
FLASH_RECORD* flash_rec;
|
FLASH_RECORD* flash_rec;
|
||||||
|
|
|
||||||
Loading…
Add table
Add a link
Reference in a new issue