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base: robossembler:main
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robossembler:main
robossembler:process_can
robossembler:Prec_reducer_version_4
robossembler:repository_synchronization
robossembler:updated-hardware-interface
robossembler:pcb-0.4.2-production-ci-fix
robossembler:pcb-0.4.1-production
robossembler:pcb-0.4-production
..
compare: robossembler:process_can
Branches Tags
robossembler:process_can
robossembler:Prec_reducer_version_4
robossembler:main
robossembler:repository_synchronization
robossembler:updated-hardware-interface
robossembler:pcb-0.4.2-production-ci-fix
robossembler:pcb-0.4.1-production
robossembler:pcb-0.4-production

5 commits
main ... process_ca

Author SHA1 Message Date
Valentin Dabstep
4d6a5f8700 Add interrupt 2025-06-16 00:31:26 +03:00
Valentin Dabstep
207b889fef Work ID test 2025-06-11 22:00:51 +03:00
Valentin Dabstep
e80f04d857 Add test SimpleFOC 2025-06-08 12:29:55 +03:00
Valentin Dabstep
28ce1bb556 Add save data_type CAN 2025-06-06 22:26:33 +03:00
Valentin Dabstep
58a051b217 Add new process msg 2025-06-06 18:37:48 +03:00
123 changed files with 1181241 additions and 1180998 deletions
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80
.gitignore vendored
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@ -1,40 +1,40 @@
~$*.SLDPRT
~$*.SLDASM
*.STL
# For PCBs designed using KiCad: http://www.kicad-pcb.org/
# Format documentation: http://kicad-pcb.org/help/file-formats/
# Temporary files
*-backups/
*.000
*.bak
*.bck
*.kicad_sch.lck
*.kicad_pcb-bak
*.kicad_pcb.lck
*#auto_saved_files#
*~
_autosave-*
*.tmp
*-cache.lib
*-rescue.lib
*-save.pro
*-save.kicad_pcb
*.sch-bak
fp-info-cache
# Netlist files (exported from Eeschema)
*.net
# Autorouter files (exported from Pcbnew)
*.dsn
*.ses
# Visual Studio Code
*.vscode/
# Platformio .pio
.pio/
# JetBrains CLion
.idea/
~$*.SLDPRT
~$*.SLDASM
*.STL
# For PCBs designed using KiCad: http://www.kicad-pcb.org/
# Format documentation: http://kicad-pcb.org/help/file-formats/
# Temporary files
*-backups/
*.000
*.bak
*.bck
*.kicad_sch.lck
*.kicad_pcb-bak
*.kicad_pcb.lck
*#auto_saved_files#
*~
_autosave-*
*.tmp
*-cache.lib
*-rescue.lib
*-save.pro
*-save.kicad_pcb
*.sch-bak
fp-info-cache
# Netlist files (exported from Eeschema)
*.net
# Autorouter files (exported from Pcbnew)
*.dsn
*.ses
# Visual Studio Code
*.vscode/
# Platformio .pio
.pio/
# JetBrains CLion
.idea/

164
.gitlab-ci.yml
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@ -1,82 +1,82 @@
stages:
- gen_fabrication_files
### Build firmware with PlatformIO
build_firmware:
stage: gen_fabrication_files
image: python:3.9
rules:
- changes:
- "controller/fw/*"
- ".gitlab-ci.yml"
when: on_success
before_script:
- cd controller/fw/embed
- pip install -U platformio
- pio update
script:
- pwd
- pio run
artifacts:
paths:
- controller/fw/embed/.pio/build/robotroller_reborn/firmware.elf
- controller/fw/embed/.pio/build/robotroller_reborn/firmware.bin
expire_in: 1 week
lint_firmware:
stage: gen_fabrication_files
image: python:3.9
rules:
- changes:
- "controller/fw/*"
- ".gitlab-ci.yml"
when: on_success
before_script:
- cd controller/fw/embed/
- pip install cpplint
script:
- pwd
- cpplint --extensions=h,hpp,cpp --recursive --linelength=120 --filter=-build/include_subdir,-legal/copyright --output=vs7 src include test lib
### Gitlab CI/CD example for KiCad
# workflow:
# rules:
# - if: '$CI_PIPELINE_SOURCE == "merge_request_event"'
# - if: '$CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH'
variables:
SCHEMATICS: "true"
GIT_DEPTH: 1
clone:
stage: .pre
script:
- echo "Git repo pre-fetching"
.kicad-pipeline:
stage: gen_fabrication_files
trigger:
include:
- remote: 'https://gitlab.com/robossembler/roboarm-diy-version/-/raw/a200bcad9708b65b51f54da9ed426d2233308b84/.kicad-pipeline.yml'
strategy: depend
rules: !reference [.default_rules, rules]
.default_rules:
rules:
- changes:
- "${FOLDER}/*"
- ".gitlab-ci.yml"
when: on_success
# Boards for building
# !!! PACKAGE NAMES SHOULD BE WITHOUT SPACES !!!
Robotroller-PCB:
variables:
PACKAGE_NAME: 'Robotroller-PCB'
FOLDER: 'controller/hw'
PROJECT_NAME: 'motor_controller_50mm'
extends: .kicad-pipeline
stages:
- gen_fabrication_files
### Build firmware with PlatformIO
build_firmware:
stage: gen_fabrication_files
image: python:3.9
rules:
- changes:
- "controller/fw/*"
- ".gitlab-ci.yml"
when: on_success
before_script:
- cd controller/fw/embed
- pip install -U platformio
- pio update
script:
- pwd
- pio run
artifacts:
paths:
- controller/fw/embed/.pio/build/robotroller_reborn/firmware.elf
- controller/fw/embed/.pio/build/robotroller_reborn/firmware.bin
expire_in: 1 week
lint_firmware:
stage: gen_fabrication_files
image: python:3.9
rules:
- changes:
- "controller/fw/*"
- ".gitlab-ci.yml"
when: on_success
before_script:
- cd controller/fw/embed/
- pip install cpplint
script:
- pwd
- cpplint --extensions=h,hpp,cpp --recursive --linelength=120 --filter=-build/include_subdir,-legal/copyright --output=vs7 src include test lib
### Gitlab CI/CD example for KiCad
# workflow:
# rules:
# - if: '$CI_PIPELINE_SOURCE == "merge_request_event"'
# - if: '$CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH'
variables:
SCHEMATICS: "true"
GIT_DEPTH: 1
clone:
stage: .pre
script:
- echo "Git repo pre-fetching"
.kicad-pipeline:
stage: gen_fabrication_files
trigger:
include:
- remote: 'https://gitlab.com/robossembler/roboarm-diy-version/-/raw/a200bcad9708b65b51f54da9ed426d2233308b84/.kicad-pipeline.yml'
strategy: depend
rules: !reference [.default_rules, rules]
.default_rules:
rules:
- changes:
- "${FOLDER}/*"
- ".gitlab-ci.yml"
when: on_success
# Boards for building
# !!! PACKAGE NAMES SHOULD BE WITHOUT SPACES !!!
Robotroller-PCB:
variables:
PACKAGE_NAME: 'Robotroller-PCB'
FOLDER: 'controller/hw'
PROJECT_NAME: 'motor_controller_50mm'
extends: .kicad-pipeline

104
CHANGELOG.md
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@ -1,52 +1,52 @@
# Change Log
All notable changes to this project will be documented in this file.
The format is based on [Keep a Changelog](http://keepachangelog.com/)
and this project adheres to [Semantic Versioning](http://semver.org/).
## [0.1.0] 70mm Servo - 2024-06-19
Изменения в конструкции 70 мм. двигателей
### Added
Добавлены модификации двигателей для металлического магнитопровода
1. на 2 элементах статора добавены лучи, препятствующие перетиранию провода о металл сердечника
2. Поправлены размер фиксатора крышки мотора статора.
### Changed
Ротор 70 мм
1. Изменены размеры отверстий под установку магнитов
2. Изменён крепеж вала ротора к подшипнику
3. Увеличены вентиляционные лопатки
4. Увеличен диаметр отверстия для установки магнита датчика угла
5. Изменена верхняя крышка для улучшения процесса печати
6. Уменьшены фиксирующие магниты пластины для уменьшения вероятности трения ротора о статор
7. Увеличена толщина стенок для получения более жесткой конструкции
Статор 70 мм
1. Изменена форма щёчек катушек для улучшения процесса печати
2. Добавлено отверстие для крепления провода (концов звезды в соответствующей схеме подключения)
### Fixed
## [0.4.0] PCB Controller - 2024-03-24
Новая версия печатной платы контроллера двигателя.
### Added
- Добавлен датчик температуры.
### Changed
- Убраны несколько деталей, изменена трассировка значительной части проводящего слоя платы.
- Перенесены на верхнюю сторону все компоненты за исключением датчика угла и измерительных резисторов.
- Изменено посадочное место под дроссель.
- Систематизированы наименования деталей.
### Fixed
- Улучшено прохождение земель и питания.
- Поправлена шелкография.
# Change Log
All notable changes to this project will be documented in this file.
The format is based on [Keep a Changelog](http://keepachangelog.com/)
and this project adheres to [Semantic Versioning](http://semver.org/).
## [0.1.0] 70mm Servo - 2024-06-19
Изменения в конструкции 70 мм. двигателей
### Added
Добавлены модификации двигателей для металлического магнитопровода
1. на 2 элементах статора добавены лучи, препятствующие перетиранию провода о металл сердечника
2. Поправлены размер фиксатора крышки мотора статора.
### Changed
Ротор 70 мм
1. Изменены размеры отверстий под установку магнитов
2. Изменён крепеж вала ротора к подшипнику
3. Увеличены вентиляционные лопатки
4. Увеличен диаметр отверстия для установки магнита датчика угла
5. Изменена верхняя крышка для улучшения процесса печати
6. Уменьшены фиксирующие магниты пластины для уменьшения вероятности трения ротора о статор
7. Увеличена толщина стенок для получения более жесткой конструкции
Статор 70 мм
1. Изменена форма щёчек катушек для улучшения процесса печати
2. Добавлено отверстие для крепления провода (концов звезды в соответствующей схеме подключения)
### Fixed
## [0.4.0] PCB Controller - 2024-03-24
Новая версия печатной платы контроллера двигателя.
### Added
- Добавлен датчик температуры.
### Changed
- Убраны несколько деталей, изменена трассировка значительной части проводящего слоя платы.
- Перенесены на верхнюю сторону все компоненты за исключением датчика угла и измерительных резисторов.
- Изменено посадочное место под дроссель.
- Систематизированы наименования деталей.
### Fixed
- Улучшено прохождение земель и питания.
- Поправлена шелкография.

580
LICENSE
View file

@ -1,290 +1,290 @@
Copyright © 2015-2021, Stanislav Sgonov (stasjok@mail.ru)
CERN Open Hardware Licence Version 2 - Strongly Reciprocal
Preamble
CERN has developed this licence to promote collaboration among
hardware designers and to provide a legal tool which supports the
freedom to use, study, modify, share and distribute hardware designs
and products based on those designs. Version 2 of the CERN Open
Hardware Licence comes in three variants: CERN-OHL-P (permissive); and
two reciprocal licences: CERN-OHL-W (weakly reciprocal) and this
licence, CERN-OHL-S (strongly reciprocal).
The CERN-OHL-S is copyright CERN 2020. Anyone is welcome to use it, in
unmodified form only.
Use of this Licence does not imply any endorsement by CERN of any
Licensor or their designs nor does it imply any involvement by CERN in
their development.
1 Definitions
1.1 'Licence' means this CERN-OHL-S.
1.2 'Compatible Licence' means
a) any earlier version of the CERN Open Hardware licence, or
b) any version of the CERN-OHL-S, or
c) any licence which permits You to treat the Source to which
it applies as licensed under CERN-OHL-S provided that on
Conveyance of any such Source, or any associated Product You
treat the Source in question as being licensed under
CERN-OHL-S.
1.3 'Source' means information such as design materials or digital
code which can be applied to Make or test a Product or to
prepare a Product for use, Conveyance or sale, regardless of its
medium or how it is expressed. It may include Notices.
1.4 'Covered Source' means Source that is explicitly made available
under this Licence.
1.5 'Product' means any device, component, work or physical object,
whether in finished or intermediate form, arising from the use,
application or processing of Covered Source.
1.6 'Make' means to create or configure something, whether by
manufacture, assembly, compiling, loading or applying Covered
Source or another Product or otherwise.
1.7 'Available Component' means any part, sub-assembly, library or
code which:
a) is licensed to You as Complete Source under a Compatible
Licence; or
b) is available, at the time a Product or the Source containing
it is first Conveyed, to You and any other prospective
licensees
i) as a physical part with sufficient rights and
information (including any configuration and
programming files and information about its
characteristics and interfaces) to enable it either to
be Made itself, or to be sourced and used to Make the
Product; or
ii) as part of the normal distribution of a tool used to
design or Make the Product.
1.8 'Complete Source' means the set of all Source necessary to Make
a Product, in the preferred form for making modifications,
including necessary installation and interfacing information
both for the Product, and for any included Available Components.
If the format is proprietary, it must also be made available in
a format (if the proprietary tool can create it) which is
viewable with a tool available to potential licensees and
licensed under a licence approved by the Free Software
Foundation or the Open Source Initiative. Complete Source need
not include the Source of any Available Component, provided that
You include in the Complete Source sufficient information to
enable a recipient to Make or source and use the Available
Component to Make the Product.
1.9 'Source Location' means a location where a Licensor has placed
Covered Source, and which that Licensor reasonably believes will
remain easily accessible for at least three years for anyone to
obtain a digital copy.
1.10 'Notice' means copyright, acknowledgement and trademark notices,
Source Location references, modification notices (subsection
3.3(b)) and all notices that refer to this Licence and to the
disclaimer of warranties that are included in the Covered
Source.
1.11 'Licensee' or 'You' means any person exercising rights under
this Licence.
1.12 'Licensor' means a natural or legal person who creates or
modifies Covered Source. A person may be a Licensee and a
Licensor at the same time.
1.13 'Convey' means to communicate to the public or distribute.
2 Applicability
2.1 This Licence governs the use, copying, modification, Conveying
of Covered Source and Products, and the Making of Products. By
exercising any right granted under this Licence, You irrevocably
accept these terms and conditions.
2.2 This Licence is granted by the Licensor directly to You, and
shall apply worldwide and without limitation in time.
2.3 You shall not attempt to restrict by contract or otherwise the
rights granted under this Licence to other Licensees.
2.4 This Licence is not intended to restrict fair use, fair dealing,
or any other similar right.
3 Copying, Modifying and Conveying Covered Source
3.1 You may copy and Convey verbatim copies of Covered Source, in
any medium, provided You retain all Notices.
3.2 You may modify Covered Source, other than Notices, provided that
You irrevocably undertake to make that modified Covered Source
available from a Source Location should You Convey a Product in
circumstances where the recipient does not otherwise receive a
copy of the modified Covered Source. In each case subsection 3.3
shall apply.
You may only delete Notices if they are no longer applicable to
the corresponding Covered Source as modified by You and You may
add additional Notices applicable to Your modifications.
Including Covered Source in a larger work is modifying the
Covered Source, and the larger work becomes modified Covered
Source.
3.3 You may Convey modified Covered Source (with the effect that You
shall also become a Licensor) provided that You:
a) retain Notices as required in subsection 3.2;
b) add a Notice to the modified Covered Source stating that You
have modified it, with the date and brief description of how
You have modified it;
c) add a Source Location Notice for the modified Covered Source
if You Convey in circumstances where the recipient does not
otherwise receive a copy of the modified Covered Source; and
d) license the modified Covered Source under the terms and
conditions of this Licence (or, as set out in subsection
8.3, a later version, if permitted by the licence of the
original Covered Source). Such modified Covered Source must
be licensed as a whole, but excluding Available Components
contained in it, which remain licensed under their own
applicable licences.
4 Making and Conveying Products
You may Make Products, and/or Convey them, provided that You either
provide each recipient with a copy of the Complete Source or ensure
that each recipient is notified of the Source Location of the Complete
Source. That Complete Source is Covered Source, and You must
accordingly satisfy Your obligations set out in subsection 3.3. If
specified in a Notice, the Product must visibly and securely display
the Source Location on it or its packaging or documentation in the
manner specified in that Notice.
5 Research and Development
You may Convey Covered Source, modified Covered Source or Products to
a legal entity carrying out development, testing or quality assurance
work on Your behalf provided that the work is performed on terms which
prevent the entity from both using the Source or Products for its own
internal purposes and Conveying the Source or Products or any
modifications to them to any person other than You. Any modifications
made by the entity shall be deemed to be made by You pursuant to
subsection 3.2.
6 DISCLAIMER AND LIABILITY
6.1 DISCLAIMER OF WARRANTY -- The Covered Source and any Products
are provided 'as is' and any express or implied warranties,
including, but not limited to, implied warranties of
merchantability, of satisfactory quality, non-infringement of
third party rights, and fitness for a particular purpose or use
are disclaimed in respect of any Source or Product to the
maximum extent permitted by law. The Licensor makes no
representation that any Source or Product does not or will not
infringe any patent, copyright, trade secret or other
proprietary right. The entire risk as to the use, quality, and
performance of any Source or Product shall be with You and not
the Licensor. This disclaimer of warranty is an essential part
of this Licence and a condition for the grant of any rights
granted under this Licence.
6.2 EXCLUSION AND LIMITATION OF LIABILITY -- The Licensor shall, to
the maximum extent permitted by law, have no liability for
direct, indirect, special, incidental, consequential, exemplary,
punitive or other damages of any character including, without
limitation, procurement of substitute goods or services, loss of
use, data or profits, or business interruption, however caused
and on any theory of contract, warranty, tort (including
negligence), product liability or otherwise, arising in any way
in relation to the Covered Source, modified Covered Source
and/or the Making or Conveyance of a Product, even if advised of
the possibility of such damages, and You shall hold the
Licensor(s) free and harmless from any liability, costs,
damages, fees and expenses, including claims by third parties,
in relation to such use.
7 Patents
7.1 Subject to the terms and conditions of this Licence, each
Licensor hereby grants to You a perpetual, worldwide,
non-exclusive, no-charge, royalty-free, irrevocable (except as
stated in subsections 7.2 and 8.4) patent licence to Make, have
Made, use, offer to sell, sell, import, and otherwise transfer
the Covered Source and Products, where such licence applies only
to those patent claims licensable by such Licensor that are
necessarily infringed by exercising rights under the Covered
Source as Conveyed by that Licensor.
7.2 If You institute patent litigation against any entity (including
a cross-claim or counterclaim in a lawsuit) alleging that the
Covered Source or a Product constitutes direct or contributory
patent infringement, or You seek any declaration that a patent
licensed to You under this Licence is invalid or unenforceable
then any rights granted to You under this Licence shall
terminate as of the date such process is initiated.
8 General
8.1 If any provisions of this Licence are or subsequently become
invalid or unenforceable for any reason, the remaining
provisions shall remain effective.
8.2 You shall not use any of the name (including acronyms and
abbreviations), image, or logo by which the Licensor or CERN is
known, except where needed to comply with section 3, or where
the use is otherwise allowed by law. Any such permitted use
shall be factual and shall not be made so as to suggest any kind
of endorsement or implication of involvement by the Licensor or
its personnel.
8.3 CERN may publish updated versions and variants of this Licence
which it considers to be in the spirit of this version, but may
differ in detail to address new problems or concerns. New
versions will be published with a unique version number and a
variant identifier specifying the variant. If the Licensor has
specified that a given variant applies to the Covered Source
without specifying a version, You may treat that Covered Source
as being released under any version of the CERN-OHL with that
variant. If no variant is specified, the Covered Source shall be
treated as being released under CERN-OHL-S. The Licensor may
also specify that the Covered Source is subject to a specific
version of the CERN-OHL or any later version in which case You
may apply this or any later version of CERN-OHL with the same
variant identifier published by CERN.
8.4 This Licence shall terminate with immediate effect if You fail
to comply with any of its terms and conditions.
8.5 However, if You cease all breaches of this Licence, then Your
Licence from any Licensor is reinstated unless such Licensor has
terminated this Licence by giving You, while You remain in
breach, a notice specifying the breach and requiring You to cure
it within 30 days, and You have failed to come into compliance
in all material respects by the end of the 30 day period. Should
You repeat the breach after receipt of a cure notice and
subsequent reinstatement, this Licence will terminate
immediately and permanently. Section 6 shall continue to apply
after any termination.
8.6 This Licence shall not be enforceable except by a Licensor
acting as such, and third party beneficiary rights are
specifically excluded.
Copyright © 2015-2021, Stanislav Sgonov (stasjok@mail.ru)
CERN Open Hardware Licence Version 2 - Strongly Reciprocal
Preamble
CERN has developed this licence to promote collaboration among
hardware designers and to provide a legal tool which supports the
freedom to use, study, modify, share and distribute hardware designs
and products based on those designs. Version 2 of the CERN Open
Hardware Licence comes in three variants: CERN-OHL-P (permissive); and
two reciprocal licences: CERN-OHL-W (weakly reciprocal) and this
licence, CERN-OHL-S (strongly reciprocal).
The CERN-OHL-S is copyright CERN 2020. Anyone is welcome to use it, in
unmodified form only.
Use of this Licence does not imply any endorsement by CERN of any
Licensor or their designs nor does it imply any involvement by CERN in
their development.
1 Definitions
1.1 'Licence' means this CERN-OHL-S.
1.2 'Compatible Licence' means
a) any earlier version of the CERN Open Hardware licence, or
b) any version of the CERN-OHL-S, or
c) any licence which permits You to treat the Source to which
it applies as licensed under CERN-OHL-S provided that on
Conveyance of any such Source, or any associated Product You
treat the Source in question as being licensed under
CERN-OHL-S.
1.3 'Source' means information such as design materials or digital
code which can be applied to Make or test a Product or to
prepare a Product for use, Conveyance or sale, regardless of its
medium or how it is expressed. It may include Notices.
1.4 'Covered Source' means Source that is explicitly made available
under this Licence.
1.5 'Product' means any device, component, work or physical object,
whether in finished or intermediate form, arising from the use,
application or processing of Covered Source.
1.6 'Make' means to create or configure something, whether by
manufacture, assembly, compiling, loading or applying Covered
Source or another Product or otherwise.
1.7 'Available Component' means any part, sub-assembly, library or
code which:
a) is licensed to You as Complete Source under a Compatible
Licence; or
b) is available, at the time a Product or the Source containing
it is first Conveyed, to You and any other prospective
licensees
i) as a physical part with sufficient rights and
information (including any configuration and
programming files and information about its
characteristics and interfaces) to enable it either to
be Made itself, or to be sourced and used to Make the
Product; or
ii) as part of the normal distribution of a tool used to
design or Make the Product.
1.8 'Complete Source' means the set of all Source necessary to Make
a Product, in the preferred form for making modifications,
including necessary installation and interfacing information
both for the Product, and for any included Available Components.
If the format is proprietary, it must also be made available in
a format (if the proprietary tool can create it) which is
viewable with a tool available to potential licensees and
licensed under a licence approved by the Free Software
Foundation or the Open Source Initiative. Complete Source need
not include the Source of any Available Component, provided that
You include in the Complete Source sufficient information to
enable a recipient to Make or source and use the Available
Component to Make the Product.
1.9 'Source Location' means a location where a Licensor has placed
Covered Source, and which that Licensor reasonably believes will
remain easily accessible for at least three years for anyone to
obtain a digital copy.
1.10 'Notice' means copyright, acknowledgement and trademark notices,
Source Location references, modification notices (subsection
3.3(b)) and all notices that refer to this Licence and to the
disclaimer of warranties that are included in the Covered
Source.
1.11 'Licensee' or 'You' means any person exercising rights under
this Licence.
1.12 'Licensor' means a natural or legal person who creates or
modifies Covered Source. A person may be a Licensee and a
Licensor at the same time.
1.13 'Convey' means to communicate to the public or distribute.
2 Applicability
2.1 This Licence governs the use, copying, modification, Conveying
of Covered Source and Products, and the Making of Products. By
exercising any right granted under this Licence, You irrevocably
accept these terms and conditions.
2.2 This Licence is granted by the Licensor directly to You, and
shall apply worldwide and without limitation in time.
2.3 You shall not attempt to restrict by contract or otherwise the
rights granted under this Licence to other Licensees.
2.4 This Licence is not intended to restrict fair use, fair dealing,
or any other similar right.
3 Copying, Modifying and Conveying Covered Source
3.1 You may copy and Convey verbatim copies of Covered Source, in
any medium, provided You retain all Notices.
3.2 You may modify Covered Source, other than Notices, provided that
You irrevocably undertake to make that modified Covered Source
available from a Source Location should You Convey a Product in
circumstances where the recipient does not otherwise receive a
copy of the modified Covered Source. In each case subsection 3.3
shall apply.
You may only delete Notices if they are no longer applicable to
the corresponding Covered Source as modified by You and You may
add additional Notices applicable to Your modifications.
Including Covered Source in a larger work is modifying the
Covered Source, and the larger work becomes modified Covered
Source.
3.3 You may Convey modified Covered Source (with the effect that You
shall also become a Licensor) provided that You:
a) retain Notices as required in subsection 3.2;
b) add a Notice to the modified Covered Source stating that You
have modified it, with the date and brief description of how
You have modified it;
c) add a Source Location Notice for the modified Covered Source
if You Convey in circumstances where the recipient does not
otherwise receive a copy of the modified Covered Source; and
d) license the modified Covered Source under the terms and
conditions of this Licence (or, as set out in subsection
8.3, a later version, if permitted by the licence of the
original Covered Source). Such modified Covered Source must
be licensed as a whole, but excluding Available Components
contained in it, which remain licensed under their own
applicable licences.
4 Making and Conveying Products
You may Make Products, and/or Convey them, provided that You either
provide each recipient with a copy of the Complete Source or ensure
that each recipient is notified of the Source Location of the Complete
Source. That Complete Source is Covered Source, and You must
accordingly satisfy Your obligations set out in subsection 3.3. If
specified in a Notice, the Product must visibly and securely display
the Source Location on it or its packaging or documentation in the
manner specified in that Notice.
5 Research and Development
You may Convey Covered Source, modified Covered Source or Products to
a legal entity carrying out development, testing or quality assurance
work on Your behalf provided that the work is performed on terms which
prevent the entity from both using the Source or Products for its own
internal purposes and Conveying the Source or Products or any
modifications to them to any person other than You. Any modifications
made by the entity shall be deemed to be made by You pursuant to
subsection 3.2.
6 DISCLAIMER AND LIABILITY
6.1 DISCLAIMER OF WARRANTY -- The Covered Source and any Products
are provided 'as is' and any express or implied warranties,
including, but not limited to, implied warranties of
merchantability, of satisfactory quality, non-infringement of
third party rights, and fitness for a particular purpose or use
are disclaimed in respect of any Source or Product to the
maximum extent permitted by law. The Licensor makes no
representation that any Source or Product does not or will not
infringe any patent, copyright, trade secret or other
proprietary right. The entire risk as to the use, quality, and
performance of any Source or Product shall be with You and not
the Licensor. This disclaimer of warranty is an essential part
of this Licence and a condition for the grant of any rights
granted under this Licence.
6.2 EXCLUSION AND LIMITATION OF LIABILITY -- The Licensor shall, to
the maximum extent permitted by law, have no liability for
direct, indirect, special, incidental, consequential, exemplary,
punitive or other damages of any character including, without
limitation, procurement of substitute goods or services, loss of
use, data or profits, or business interruption, however caused
and on any theory of contract, warranty, tort (including
negligence), product liability or otherwise, arising in any way
in relation to the Covered Source, modified Covered Source
and/or the Making or Conveyance of a Product, even if advised of
the possibility of such damages, and You shall hold the
Licensor(s) free and harmless from any liability, costs,
damages, fees and expenses, including claims by third parties,
in relation to such use.
7 Patents
7.1 Subject to the terms and conditions of this Licence, each
Licensor hereby grants to You a perpetual, worldwide,
non-exclusive, no-charge, royalty-free, irrevocable (except as
stated in subsections 7.2 and 8.4) patent licence to Make, have
Made, use, offer to sell, sell, import, and otherwise transfer
the Covered Source and Products, where such licence applies only
to those patent claims licensable by such Licensor that are
necessarily infringed by exercising rights under the Covered
Source as Conveyed by that Licensor.
7.2 If You institute patent litigation against any entity (including
a cross-claim or counterclaim in a lawsuit) alleging that the
Covered Source or a Product constitutes direct or contributory
patent infringement, or You seek any declaration that a patent
licensed to You under this Licence is invalid or unenforceable
then any rights granted to You under this Licence shall
terminate as of the date such process is initiated.
8 General
8.1 If any provisions of this Licence are or subsequently become
invalid or unenforceable for any reason, the remaining
provisions shall remain effective.
8.2 You shall not use any of the name (including acronyms and
abbreviations), image, or logo by which the Licensor or CERN is
known, except where needed to comply with section 3, or where
the use is otherwise allowed by law. Any such permitted use
shall be factual and shall not be made so as to suggest any kind
of endorsement or implication of involvement by the Licensor or
its personnel.
8.3 CERN may publish updated versions and variants of this Licence
which it considers to be in the spirit of this version, but may
differ in detail to address new problems or concerns. New
versions will be published with a unique version number and a
variant identifier specifying the variant. If the Licensor has
specified that a given variant applies to the Covered Source
without specifying a version, You may treat that Covered Source
as being released under any version of the CERN-OHL with that
variant. If no variant is specified, the Covered Source shall be
treated as being released under CERN-OHL-S. The Licensor may
also specify that the Covered Source is subject to a specific
version of the CERN-OHL or any later version in which case You
may apply this or any later version of CERN-OHL with the same
variant identifier published by CERN.
8.4 This Licence shall terminate with immediate effect if You fail
to comply with any of its terms and conditions.
8.5 However, if You cease all breaches of this Licence, then Your
Licence from any Licensor is reinstated unless such Licensor has
terminated this Licence by giving You, while You remain in
breach, a notice specifying the breach and requiring You to cure
it within 30 days, and You have failed to come into compliance
in all material respects by the end of the 30 day period. Should
You repeat the breach after receipt of a cure notice and
subsequent reinstatement, this Licence will terminate
immediately and permanently. Section 6 shall continue to apply
after any termination.
8.6 This Licence shall not be enforceable except by a Licensor
acting as such, and third party beneficiary rights are
specifically excluded.

142
README.md
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@ -1,71 +1,71 @@
# Сервопривод Робосборщика
![servo printed images](img/robossembler-servo-reducer-exploding-view-01.jpg)
![servo printed images](img/robossembler-servo-reducer-exploding-view-02.jpg)
Сервопривод на базе бесщёточного двигателя постоянного тока, адаптированный для производства с помощью 3D-печати. Разработан для управления 6-осевым роботом-манипулятором [Robossembler Arm](https://gitlab.com/robossembler/roboarm-diy-version), но может использоваться и как самостоятельное изделие в составе других систем. Предусматривается две конструкции статора двигателя: один для изготовления с помощью 3D-печати, другой с помощью листовой электротехнеской стали, нарезаемой на лазерном станке.
Ключевые особенности:
- Высокая мощность (допустимость редуктора)
- Высокая скорость (компенсация наличия редуктора)
- Хорошая динамика (разгон-торможение)
- Возможность электрического тормоза
В состав репозитория включены модели редукторов двух типов для использования в составе сервопривода. Исходные файлы редукторов представлены в директории `src/REDUCTOR`. В настоящее время основным является прециссирующий редуктор с соотношением 1:43.
Для управления используется универсальная плата-контроллер, которая может быть использована в вариантах исполнения двигателей разных диаметров (на данный момент 50 мм и 70 мм) со сходными характеристиками обмоток. Контроллер управляется через CAN-интерфейс.
## Внешний вид
![](img/servo-reducer-assembled.jpg)
## Описание директорий
```[servo]
├── controller/ # Плата контроллер
│ ├── fw/ # Исходный код прошивки микроконтроллера
│ │ ├── embed/ # Инструкция по сборке и загрузке прошивки
│ │ └── test/ # Тесты для проверки встроенного ПО
│ └── hw/ # Проект печатной платы контроллера в kicad
├── img/ # Изображения для README.md
├── motor/ # Все файлы сборок и деталей моторов в формате Solidworks
├── reducer/ # Проекты редукторов в формате Solidworks
├── ros2_environment/ # Пакеты для управления мотором из ROS 2 с помощью ros2_control
└── tools/ # Вспомогательное оборудование для тестирования, испытаний
├── conductor-for-fasteners-70mm/ # Проект оснастки для вкручивания винтов в пластиковый статор 72мм мотора
├── test-reductor-stend/ # Стенд для испытания редуктора
└── torque-test-stend/ # Стенд для измерения усилия сервопривода
```
## Краткая инструкция по изготовлению
### Статор
Для удобства изготовления статоров разработан станок для намотки катушек индуктивности. Исходные файлы для производства станка и инструкции размещены в репозитории [gitlab.com/robossembler/cnc/motor-wire-winder](https://gitlab.com/robossembler/cnc/motor-wire-winder).
### Сборка
1. Вставить 28 магнитов в ротор
2. Установить подшипник в статор
3. Установить проставку в статор между подшипником и платой
4. Припаять плату к обмоткам (схема обмоток приведена ниже) и установить ее в статор
5. Накрыть плату крышкой
6. Установить фиксирующий шплинт
7. Надеть на сборку статора ротор
8. Подключить разъем программирования XP3 и прошить с помощью ST-Link-совместимого программатора
## Фото прототипов
Первый прототип изготовленного печатного мотора диаметром 50мм.
![servo printed](img/first-prototype-rbs-servo-50mm.png)
Современная версия привода диаметром 70мм.
![](img/70mm-prototype-02-inside.jpg)
## Схемы намотки
| Двигатель 70мм | Двигатель 50мм |
| ----------- | ----------- |
| ![coil winder schema](img/coil_winder_schema.jpg) | ![coil winder schema](img/coil_winder_schema_50mm.jpg) |
# Сервопривод Робосборщика
![servo printed images](img/robossembler-servo-reducer-exploding-view-01.jpg)
![servo printed images](img/robossembler-servo-reducer-exploding-view-02.jpg)
Сервопривод на базе бесщёточного двигателя постоянного тока, адаптированный для производства с помощью 3D-печати. Разработан для управления 6-осевым роботом-манипулятором [Robossembler Arm](https://gitlab.com/robossembler/roboarm-diy-version), но может использоваться и как самостоятельное изделие в составе других систем. Предусматривается две конструкции статора двигателя: один для изготовления с помощью 3D-печати, другой с помощью листовой электротехнеской стали, нарезаемой на лазерном станке.
Ключевые особенности:
- Высокая мощность (допустимость редуктора)
- Высокая скорость (компенсация наличия редуктора)
- Хорошая динамика (разгон-торможение)
- Возможность электрического тормоза
В состав репозитория включены модели редукторов двух типов для использования в составе сервопривода. Исходные файлы редукторов представлены в директории `src/REDUCTOR`. В настоящее время основным является прециссирующий редуктор с соотношением 1:43.
Для управления используется универсальная плата-контроллер, которая может быть использована в вариантах исполнения двигателей разных диаметров (на данный момент 50 мм и 70 мм) со сходными характеристиками обмоток. Контроллер управляется через CAN-интерфейс.
## Внешний вид
![](img/servo-reducer-assembled.jpg)
## Описание директорий
```[servo]
├── controller/ # Плата контроллер
│ ├── fw/ # Исходный код прошивки микроконтроллера
│ │ ├── embed/ # Инструкция по сборке и загрузке прошивки
│ │ └── test/ # Тесты для проверки встроенного ПО
│ └── hw/ # Проект печатной платы контроллера в kicad
├── img/ # Изображения для README.md
├── motor/ # Все файлы сборок и деталей моторов в формате Solidworks
├── reducer/ # Проекты редукторов в формате Solidworks
├── ros2_environment/ # Пакеты для управления мотором из ROS 2 с помощью ros2_control
└── tools/ # Вспомогательное оборудование для тестирования, испытаний
├── conductor-for-fasteners-70mm/ # Проект оснастки для вкручивания винтов в пластиковый статор 72мм мотора
├── test-reductor-stend/ # Стенд для испытания редуктора
└── torque-test-stend/ # Стенд для измерения усилия сервопривода
```
## Краткая инструкция по изготовлению
### Статор
Для удобства изготовления статоров разработан станок для намотки катушек индуктивности. Исходные файлы для производства станка и инструкции размещены в репозитории [gitlab.com/robossembler/cnc/motor-wire-winder](https://gitlab.com/robossembler/cnc/motor-wire-winder).
### Сборка
1. Вставить 28 магнитов в ротор
2. Установить подшипник в статор
3. Установить проставку в статор между подшипником и платой
4. Припаять плату к обмоткам (схема обмоток приведена ниже) и установить ее в статор
5. Накрыть плату крышкой
6. Установить фиксирующий шплинт
7. Надеть на сборку статора ротор
8. Подключить разъем программирования XP3 и прошить с помощью ST-Link-совместимого программатора
## Фото прототипов
Первый прототип изготовленного печатного мотора диаметром 50мм.
![servo printed](img/first-prototype-rbs-servo-50mm.png)
Современная версия привода диаметром 70мм.
![](img/70mm-prototype-02-inside.jpg)
## Схемы намотки
| Двигатель 70мм | Двигатель 50мм |
| ----------- | ----------- |
| ![coil winder schema](img/coil_winder_schema.jpg) | ![coil winder schema](img/coil_winder_schema_50mm.jpg) |

134
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View file

@ -1,68 +1,68 @@
# Встроенное ПО для сервопривода на STM32F446RE
## Для разработки
- [Установить platformio](#introduction)
```bash
pip install -U platformio
```
- Установить python3
```bash
sudo apt install python3
```
- Устаноивть st-link
```bash
sudo apt install st-link
```
### 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
- [Скомпилировать проект](#build_project)
```bash
platformio run --environment robotroller_reborn
```
- [Загрузить прошивку](#upload_project)
```bash
platformio run --target upload --environment robotroller_reborn
```
## Другой способ прошивки
## Выбор интерфейса прошивки
### Для основной прошивки в директории ./embed
- Если уже есть какя-то основная прошивка, то чтобы перепрошить другую прошивку, добавляем флаг для бутлоадера
```bash
python3 firmw_update_flag.py [адрес устройства]
```
- Передача прошивки по CAN
```bash
python3 firmware_can.py firmware.hex [адрес устройства]
```
### St-link(нет адресации можно прошивать только по одному)
```bash
python3 st-link.py firmware.hex
```
### St-link_full(полная прошивка без адресации)
#### Прошивает и программатор и основную прошивку можно находится как в ./embed, так и в ./bootloader(в директории где есть данный тест в папке test).
- Если до этого сохраняли адреса и данные, то они останутся даже при полной перепрошивке
- Если бутлоадер не был прошит и FLASH микрокотроллера полностью стерта
- [Скачать прошивку и бутлоадер в hex формате]
ССЫЛКА
- [Прошить через программатор]
```bash
python3 st-link_full.py bootloader.hex firmware.hex
```
## Работа по CAN
#### Для основной прошивки в директории ./embed
- Установка адреса(если до этого не был установлен адрес, то адрес устройства = 0)
```bash
python3 set_id.py [адрес устройства]
```
- Установка PID коэффициентов для угла
```bash
python3 writePID_angle_parametrs.py [адрес устройства]
```
-Чтение PID коэффициентов для угла
```bash
# Встроенное ПО для сервопривода на STM32F446RE
## Для разработки
- [Установить platformio](#introduction)
```bash
pip install -U platformio
```
- Установить python3
```bash
sudo apt install python3
```
- Устаноивть st-link
```bash
sudo apt install st-link
```
### 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
- [Скомпилировать проект](#build_project)
```bash
platformio run --environment robotroller_reborn
```
- [Загрузить прошивку](#upload_project)
```bash
platformio run --target upload --environment robotroller_reborn
```
## Другой способ прошивки
## Выбор интерфейса прошивки
### Для основной прошивки в директории ./embed
- Если уже есть какя-то основная прошивка, то чтобы перепрошить другую прошивку, добавляем флаг для бутлоадера
```bash
python3 firmw_update_flag.py [адрес устройства]
```
- Передача прошивки по CAN
```bash
python3 firmware_can.py firmware.hex [адрес устройства]
```
### St-link(нет адресации можно прошивать только по одному)
```bash
python3 st-link.py firmware.hex
```
### St-link_full(полная прошивка без адресации)
#### Прошивает и программатор и основную прошивку можно находится как в ./embed, так и в ./bootloader(в директории где есть данный тест в папке test).
- Если до этого сохраняли адреса и данные, то они останутся даже при полной перепрошивке
- Если бутлоадер не был прошит и FLASH микрокотроллера полностью стерта
- [Скачать прошивку и бутлоадер в hex формате]
ССЫЛКА
- [Прошить через программатор]
```bash
python3 st-link_full.py bootloader.hex firmware.hex
```
## Работа по CAN
#### Для основной прошивки в директории ./embed
- Установка адреса(если до этого не был установлен адрес, то адрес устройства = 0)
```bash
python3 set_id.py [адрес устройства]
```
- Установка PID коэффициентов для угла
```bash
python3 writePID_angle_parametrs.py [адрес устройства]
```
-Чтение PID коэффициентов для угла
```bash
python3 readPID_angle_parametrs.py [адрес устройства]

2
controller/fw/bootloader/.clang-tidy
View file

@ -1 +1 @@
Checks: '-*, -misc-definitions-in-headers'
Checks: '-*, -misc-definitions-in-headers'

36
controller/fw/bootloader/.clangd
View file

@ -1,18 +1,18 @@
CompileFlags:
Add:
[
# -mlong-calls,
-DSSIZE_MAX,
-DLWIP_NO_UNISTD_H=1,
-Dssize_t=long,
-D_SSIZE_T_DECLARED,
]
Remove:
[
-fno-tree-switch-conversion,
-mtext-section-literals,
-mlongcalls,
-fstrict-volatile-bitfields,
-free,
-fipa-pta,
]
CompileFlags:
Add:
[
# -mlong-calls,
-DSSIZE_MAX,
-DLWIP_NO_UNISTD_H=1,
-Dssize_t=long,
-D_SSIZE_T_DECLARED,
]
Remove:
[
-fno-tree-switch-conversion,
-mtext-section-literals,
-mlongcalls,
-fstrict-volatile-bitfields,
-free,
-fipa-pta,
]

18
controller/fw/bootloader/.gitignore vendored
View file

@ -1,9 +1,9 @@
.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
.cache/
.metadata/
cubemx_config/
compile_commands.json
.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
.cache/
.metadata/
cubemx_config/
compile_commands.json

38
controller/fw/bootloader/check_gcc_version.py
View file

@ -1,19 +1,19 @@
Import("env")
# Получаем путь к компилятору из окружения PlatformIO
gcc_path = env.subst("$CC")
# Выполняем команду для получения версии компилятора
import subprocess
try:
result = subprocess.run([gcc_path, "--version"], stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
if result.returncode == 0:
print(f"GCC version: {result.stdout}")
else:
print(f"Failed to get GCC version: {result.stderr}")
except Exception as e:
print(f"Error while getting GCC version: {e}")
# Дополнительно проверяем путь к компилятору
print(f"Compiler path: {gcc_path}")
Import("env")
# Получаем путь к компилятору из окружения PlatformIO
gcc_path = env.subst("$CC")
# Выполняем команду для получения версии компилятора
import subprocess
try:
result = subprocess.run([gcc_path, "--version"], stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
if result.returncode == 0:
print(f"GCC version: {result.stdout}")
else:
print(f"Failed to get GCC version: {result.stderr}")
except Exception as e:
print(f"Error while getting GCC version: {e}")
# Дополнительно проверяем путь к компилятору
print(f"Compiler path: {gcc_path}")

598
controller/fw/bootloader/cubemx_config.ioc
View file

@ -1,299 +1,299 @@
#MicroXplorer Configuration settings - do not modify
ADC2.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_15
ADC2.Channel-5\#ChannelRegularConversion=ADC_CHANNEL_8
ADC2.Channel-6\#ChannelRegularConversion=ADC_CHANNEL_9
ADC2.EOCSelection=ADC_EOC_SEQ_CONV
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
ADC2.InjNumberOfConversion=0
ADC2.NbrOfConversion=3
ADC2.NbrOfConversionFlag=1
ADC2.Rank-1\#ChannelRegularConversion=1
ADC2.Rank-5\#ChannelRegularConversion=2
ADC2.Rank-6\#ChannelRegularConversion=3
ADC2.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC2.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC2.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configTIMER_TASK_PRIORITY
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configENABLE_FPU=1
FREERTOS.configTIMER_TASK_PRIORITY=1
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
Mcu.CPN=STM32F446RET6
Mcu.Family=STM32F4
Mcu.IP0=ADC2
Mcu.IP1=FREERTOS
Mcu.IP2=NVIC
Mcu.IP3=RCC
Mcu.IP4=SPI2
Mcu.IP5=SYS
Mcu.IP6=TIM1
Mcu.IP7=TIM3
Mcu.IP8=TIM5
Mcu.IP9=USART1
Mcu.IPNb=10
Mcu.Name=STM32F446R(C-E)Tx
Mcu.Package=LQFP64
Mcu.Pin0=PC1
Mcu.Pin1=PC5
Mcu.Pin10=PC9
Mcu.Pin11=PA8
Mcu.Pin12=PA9
Mcu.Pin13=PA10
Mcu.Pin14=PA11
Mcu.Pin15=PA12
Mcu.Pin16=PA13
Mcu.Pin17=PA14
Mcu.Pin18=PC10
Mcu.Pin19=PC11
Mcu.Pin2=PB0
Mcu.Pin20=PC12
Mcu.Pin21=PD2
Mcu.Pin22=PB6
Mcu.Pin23=PB7
Mcu.Pin24=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin25=VP_SYS_VS_tim2
Mcu.Pin26=VP_TIM1_VS_ClockSourceINT
Mcu.Pin27=VP_TIM3_VS_ClockSourceINT
Mcu.Pin28=VP_TIM5_VS_ClockSourceINT
Mcu.Pin3=PB1
Mcu.Pin4=PB10
Mcu.Pin5=PB14
Mcu.Pin6=PB15
Mcu.Pin7=PC6
Mcu.Pin8=PC7
Mcu.Pin9=PC8
Mcu.PinsNb=29
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F446RETx
MxCube.Version=6.5.0
MxDb.Version=DB.6.0.50
NVIC.ADC_IRQn=true\:5\:0\:true\:true\:true\:1\:true\:true\:true\:true
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM2_IRQn=true\:15\:0\:true\:false\:true\:false\:false\:true\:true
NVIC.TIM3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.TimeBase=TIM2_IRQn
NVIC.TimeBaseIP=TIM2
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
PA10.Signal=S_TIM1_CH3
PA11.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PA11.GPIO_Label=EN_U
PA11.GPIO_PuPd=GPIO_PULLDOWN
PA11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA11.Locked=true
PA11.Signal=GPIO_Output
PA12.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PA12.GPIO_Label=EN_V
PA12.GPIO_PuPd=GPIO_PULLDOWN
PA12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA12.Locked=true
PA12.Signal=GPIO_Output
PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
PA8.Signal=S_TIM1_CH1
PA9.Signal=S_TIM1_CH2
PB0.GPIOParameters=GPIO_Label
PB0.GPIO_Label=SENSE2
PB0.Locked=true
PB0.Signal=ADCx_IN8
PB1.GPIOParameters=GPIO_Label
PB1.GPIO_Label=SENSE1
PB1.Locked=true
PB1.Signal=ADCx_IN9
PB10.Locked=true
PB10.Mode=Full_Duplex_Master
PB10.Signal=SPI2_SCK
PB14.Locked=true
PB14.Mode=Full_Duplex_Master
PB14.Signal=SPI2_MISO
PB15.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PB15.GPIO_Label=AS5045_CS
PB15.GPIO_PuPd=GPIO_PULLUP
PB15.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PB15.Locked=true
PB15.PinState=GPIO_PIN_SET
PB15.Signal=GPIO_Output
PB6.Mode=Asynchronous
PB6.Signal=USART1_TX
PB7.Mode=Asynchronous
PB7.Signal=USART1_RX
PC1.Mode=Full_Duplex_Master
PC1.Signal=SPI2_MOSI
PC10.GPIOParameters=GPIO_Label
PC10.GPIO_Label=LED1
PC10.Locked=true
PC10.Signal=GPIO_Output
PC11.GPIOParameters=GPIO_Label
PC11.GPIO_Label=LED2
PC11.Locked=true
PC11.Signal=GPIO_Output
PC12.GPIOParameters=GPIO_Label
PC12.GPIO_Label=LED3
PC12.Locked=true
PC12.Signal=GPIO_Output
PC5.GPIOParameters=GPIO_Label
PC5.GPIO_Label=SENSE3
PC5.Locked=true
PC5.Signal=ADCx_IN15
PC6.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PC6.GPIO_Label=EN_W
PC6.GPIO_PuPd=GPIO_PULLDOWN
PC6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PC6.Locked=true
PC6.Signal=GPIO_Output
PC7.GPIOParameters=GPIO_Label
PC7.GPIO_Label=DRV_FAULT
PC7.Locked=true
PC7.Signal=GPIO_Input
PC8.GPIOParameters=GPIO_Label
PC8.GPIO_Label=DRV_RESET
PC8.Locked=true
PC8.Signal=GPIO_Output
PC9.GPIOParameters=GPIO_Label
PC9.GPIO_Label=DRV_SLEEP
PC9.Locked=true
PC9.Signal=GPIO_Output
PD2.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PD2.GPIO_Label=spi1_cs
PD2.GPIO_PuPd=GPIO_PULLDOWN
PD2.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PD2.Locked=true
PD2.Signal=GPIO_Output
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=true
ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F446RETx
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Src
ProjectManager.NoMain=false
ProjectManager.PreviousToolchain=STM32CubeIDE
ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=cubemx_config.ioc
ProjectManager.ProjectName=cubemx_config
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=Other Toolchains (GPDSC)
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false
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
RCC.AHBFreq_Value=180000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=45000000
RCC.APB1TimFreq_Value=90000000
RCC.APB2CLKDivider=RCC_HCLK_DIV2
RCC.APB2Freq_Value=90000000
RCC.APB2TimFreq_Value=180000000
RCC.CECFreq_Value=32786.88524590164
RCC.CortexFreq_Value=180000000
RCC.FCLKCortexFreq_Value=180000000
RCC.FMPI2C1Freq_Value=45000000
RCC.FamilyName=M
RCC.HCLKFreq_Value=180000000
RCC.HSE_VALUE=8000000
RCC.I2S1Freq_Value=96000000
RCC.I2S2Freq_Value=96000000
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
RCC.MCO2PinFreq_Value=180000000
RCC.PLLCLKFreq_Value=180000000
RCC.PLLI2SPCLKFreq_Value=96000000
RCC.PLLI2SQCLKFreq_Value=96000000
RCC.PLLI2SRCLKFreq_Value=96000000
RCC.PLLI2SoutputFreq_Value=96000000
RCC.PLLM=8
RCC.PLLN=180
RCC.PLLQCLKFreq_Value=180000000
RCC.PLLRCLKFreq_Value=180000000
RCC.PLLSAIPCLKFreq_Value=96000000
RCC.PLLSAIQCLKFreq_Value=96000000
RCC.PLLSAIoutputFreq_Value=96000000
RCC.PWRFreq_Value=180000000
RCC.SAIAFreq_Value=96000000
RCC.SAIBFreq_Value=96000000
RCC.SDIOFreq_Value=180000000
RCC.SPDIFRXFreq_Value=180000000
RCC.SYSCLKFreq_VALUE=180000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.USBFreq_Value=180000000
RCC.VCOI2SInputFreq_Value=1000000
RCC.VCOI2SOutputFreq_Value=192000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=360000000
RCC.VCOSAIInputFreq_Value=1000000
RCC.VCOSAIOutputFreq_Value=192000000
SH.ADCx_IN15.0=ADC2_IN15,IN15
SH.ADCx_IN15.ConfNb=1
SH.ADCx_IN8.0=ADC2_IN8,IN8
SH.ADCx_IN8.ConfNb=1
SH.ADCx_IN9.0=ADC2_IN9,IN9
SH.ADCx_IN9.ConfNb=1
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
SH.S_TIM1_CH2.ConfNb=1
SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
SH.S_TIM1_CH3.ConfNb=1
SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
SPI2.CLKPhase=SPI_PHASE_1EDGE
SPI2.CLKPolarity=SPI_POLARITY_LOW
SPI2.CalculateBaudRate=703.125 KBits/s
SPI2.DataSize=SPI_DATASIZE_16BIT
SPI2.Direction=SPI_DIRECTION_2LINES
SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,CLKPhase,BaudRatePrescaler,CLKPolarity
SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER
TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM1.BreakState=TIM_BREAK_DISABLE
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM1.CounterMode=TIM_COUNTERMODE_CENTERALIGNED1
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,TIM_MasterOutputTrigger,AutoReloadPreload,BreakState,OffStateRunMode,OffStateIDLEMode,CounterMode,Period
TIM1.OffStateIDLEMode=TIM_OSSI_DISABLE
TIM1.OffStateRunMode=TIM_OSSR_DISABLE
TIM1.Period=2399
TIM1.TIM_MasterOutputTrigger=TIM_TRGO_RESET
TIM3.IPParameters=Period,Prescaler
TIM3.Period=99
TIM3.Prescaler=89
USART1.IPParameters=VirtualMode
USART1.VirtualMode=VM_ASYNC
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_SYS_VS_tim2.Mode=TIM2
VP_SYS_VS_tim2.Signal=SYS_VS_tim2
VP_TIM1_VS_ClockSourceINT.Mode=Internal
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
VP_TIM5_VS_ClockSourceINT.Mode=Internal
VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
board=custom
#MicroXplorer Configuration settings - do not modify
ADC2.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_15
ADC2.Channel-5\#ChannelRegularConversion=ADC_CHANNEL_8
ADC2.Channel-6\#ChannelRegularConversion=ADC_CHANNEL_9
ADC2.EOCSelection=ADC_EOC_SEQ_CONV
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
ADC2.InjNumberOfConversion=0
ADC2.NbrOfConversion=3
ADC2.NbrOfConversionFlag=1
ADC2.Rank-1\#ChannelRegularConversion=1
ADC2.Rank-5\#ChannelRegularConversion=2
ADC2.Rank-6\#ChannelRegularConversion=3
ADC2.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC2.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC2.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configTIMER_TASK_PRIORITY
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configENABLE_FPU=1
FREERTOS.configTIMER_TASK_PRIORITY=1
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
Mcu.CPN=STM32F446RET6
Mcu.Family=STM32F4
Mcu.IP0=ADC2
Mcu.IP1=FREERTOS
Mcu.IP2=NVIC
Mcu.IP3=RCC
Mcu.IP4=SPI2
Mcu.IP5=SYS
Mcu.IP6=TIM1
Mcu.IP7=TIM3
Mcu.IP8=TIM5
Mcu.IP9=USART1
Mcu.IPNb=10
Mcu.Name=STM32F446R(C-E)Tx
Mcu.Package=LQFP64
Mcu.Pin0=PC1
Mcu.Pin1=PC5
Mcu.Pin10=PC9
Mcu.Pin11=PA8
Mcu.Pin12=PA9
Mcu.Pin13=PA10
Mcu.Pin14=PA11
Mcu.Pin15=PA12
Mcu.Pin16=PA13
Mcu.Pin17=PA14
Mcu.Pin18=PC10
Mcu.Pin19=PC11
Mcu.Pin2=PB0
Mcu.Pin20=PC12
Mcu.Pin21=PD2
Mcu.Pin22=PB6
Mcu.Pin23=PB7
Mcu.Pin24=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin25=VP_SYS_VS_tim2
Mcu.Pin26=VP_TIM1_VS_ClockSourceINT
Mcu.Pin27=VP_TIM3_VS_ClockSourceINT
Mcu.Pin28=VP_TIM5_VS_ClockSourceINT
Mcu.Pin3=PB1
Mcu.Pin4=PB10
Mcu.Pin5=PB14
Mcu.Pin6=PB15
Mcu.Pin7=PC6
Mcu.Pin8=PC7
Mcu.Pin9=PC8
Mcu.PinsNb=29
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F446RETx
MxCube.Version=6.5.0
MxDb.Version=DB.6.0.50
NVIC.ADC_IRQn=true\:5\:0\:true\:true\:true\:1\:true\:true\:true\:true
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM2_IRQn=true\:15\:0\:true\:false\:true\:false\:false\:true\:true
NVIC.TIM3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.TimeBase=TIM2_IRQn
NVIC.TimeBaseIP=TIM2
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
PA10.Signal=S_TIM1_CH3
PA11.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PA11.GPIO_Label=EN_U
PA11.GPIO_PuPd=GPIO_PULLDOWN
PA11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA11.Locked=true
PA11.Signal=GPIO_Output
PA12.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PA12.GPIO_Label=EN_V
PA12.GPIO_PuPd=GPIO_PULLDOWN
PA12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA12.Locked=true
PA12.Signal=GPIO_Output
PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
PA8.Signal=S_TIM1_CH1
PA9.Signal=S_TIM1_CH2
PB0.GPIOParameters=GPIO_Label
PB0.GPIO_Label=SENSE2
PB0.Locked=true
PB0.Signal=ADCx_IN8
PB1.GPIOParameters=GPIO_Label
PB1.GPIO_Label=SENSE1
PB1.Locked=true
PB1.Signal=ADCx_IN9
PB10.Locked=true
PB10.Mode=Full_Duplex_Master
PB10.Signal=SPI2_SCK
PB14.Locked=true
PB14.Mode=Full_Duplex_Master
PB14.Signal=SPI2_MISO
PB15.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PB15.GPIO_Label=AS5045_CS
PB15.GPIO_PuPd=GPIO_PULLUP
PB15.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PB15.Locked=true
PB15.PinState=GPIO_PIN_SET
PB15.Signal=GPIO_Output
PB6.Mode=Asynchronous
PB6.Signal=USART1_TX
PB7.Mode=Asynchronous
PB7.Signal=USART1_RX
PC1.Mode=Full_Duplex_Master
PC1.Signal=SPI2_MOSI
PC10.GPIOParameters=GPIO_Label
PC10.GPIO_Label=LED1
PC10.Locked=true
PC10.Signal=GPIO_Output
PC11.GPIOParameters=GPIO_Label
PC11.GPIO_Label=LED2
PC11.Locked=true
PC11.Signal=GPIO_Output
PC12.GPIOParameters=GPIO_Label
PC12.GPIO_Label=LED3
PC12.Locked=true
PC12.Signal=GPIO_Output
PC5.GPIOParameters=GPIO_Label
PC5.GPIO_Label=SENSE3
PC5.Locked=true
PC5.Signal=ADCx_IN15
PC6.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PC6.GPIO_Label=EN_W
PC6.GPIO_PuPd=GPIO_PULLDOWN
PC6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PC6.Locked=true
PC6.Signal=GPIO_Output
PC7.GPIOParameters=GPIO_Label
PC7.GPIO_Label=DRV_FAULT
PC7.Locked=true
PC7.Signal=GPIO_Input
PC8.GPIOParameters=GPIO_Label
PC8.GPIO_Label=DRV_RESET
PC8.Locked=true
PC8.Signal=GPIO_Output
PC9.GPIOParameters=GPIO_Label
PC9.GPIO_Label=DRV_SLEEP
PC9.Locked=true
PC9.Signal=GPIO_Output
PD2.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PD2.GPIO_Label=spi1_cs
PD2.GPIO_PuPd=GPIO_PULLDOWN
PD2.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PD2.Locked=true
PD2.Signal=GPIO_Output
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=true
ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F446RETx
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Src
ProjectManager.NoMain=false
ProjectManager.PreviousToolchain=STM32CubeIDE
ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=cubemx_config.ioc
ProjectManager.ProjectName=cubemx_config
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=Other Toolchains (GPDSC)
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false
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
RCC.AHBFreq_Value=180000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=45000000
RCC.APB1TimFreq_Value=90000000
RCC.APB2CLKDivider=RCC_HCLK_DIV2
RCC.APB2Freq_Value=90000000
RCC.APB2TimFreq_Value=180000000
RCC.CECFreq_Value=32786.88524590164
RCC.CortexFreq_Value=180000000
RCC.FCLKCortexFreq_Value=180000000
RCC.FMPI2C1Freq_Value=45000000
RCC.FamilyName=M
RCC.HCLKFreq_Value=180000000
RCC.HSE_VALUE=8000000
RCC.I2S1Freq_Value=96000000
RCC.I2S2Freq_Value=96000000
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
RCC.MCO2PinFreq_Value=180000000
RCC.PLLCLKFreq_Value=180000000
RCC.PLLI2SPCLKFreq_Value=96000000
RCC.PLLI2SQCLKFreq_Value=96000000
RCC.PLLI2SRCLKFreq_Value=96000000
RCC.PLLI2SoutputFreq_Value=96000000
RCC.PLLM=8
RCC.PLLN=180
RCC.PLLQCLKFreq_Value=180000000
RCC.PLLRCLKFreq_Value=180000000
RCC.PLLSAIPCLKFreq_Value=96000000
RCC.PLLSAIQCLKFreq_Value=96000000
RCC.PLLSAIoutputFreq_Value=96000000
RCC.PWRFreq_Value=180000000
RCC.SAIAFreq_Value=96000000
RCC.SAIBFreq_Value=96000000
RCC.SDIOFreq_Value=180000000
RCC.SPDIFRXFreq_Value=180000000
RCC.SYSCLKFreq_VALUE=180000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.USBFreq_Value=180000000
RCC.VCOI2SInputFreq_Value=1000000
RCC.VCOI2SOutputFreq_Value=192000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=360000000
RCC.VCOSAIInputFreq_Value=1000000
RCC.VCOSAIOutputFreq_Value=192000000
SH.ADCx_IN15.0=ADC2_IN15,IN15
SH.ADCx_IN15.ConfNb=1
SH.ADCx_IN8.0=ADC2_IN8,IN8
SH.ADCx_IN8.ConfNb=1
SH.ADCx_IN9.0=ADC2_IN9,IN9
SH.ADCx_IN9.ConfNb=1
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
SH.S_TIM1_CH2.ConfNb=1
SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
SH.S_TIM1_CH3.ConfNb=1
SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
SPI2.CLKPhase=SPI_PHASE_1EDGE
SPI2.CLKPolarity=SPI_POLARITY_LOW
SPI2.CalculateBaudRate=703.125 KBits/s
SPI2.DataSize=SPI_DATASIZE_16BIT
SPI2.Direction=SPI_DIRECTION_2LINES
SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,CLKPhase,BaudRatePrescaler,CLKPolarity
SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER
TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM1.BreakState=TIM_BREAK_DISABLE
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM1.CounterMode=TIM_COUNTERMODE_CENTERALIGNED1
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,TIM_MasterOutputTrigger,AutoReloadPreload,BreakState,OffStateRunMode,OffStateIDLEMode,CounterMode,Period
TIM1.OffStateIDLEMode=TIM_OSSI_DISABLE
TIM1.OffStateRunMode=TIM_OSSR_DISABLE
TIM1.Period=2399
TIM1.TIM_MasterOutputTrigger=TIM_TRGO_RESET
TIM3.IPParameters=Period,Prescaler
TIM3.Period=99
TIM3.Prescaler=89
USART1.IPParameters=VirtualMode
USART1.VirtualMode=VM_ASYNC
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_SYS_VS_tim2.Mode=TIM2
VP_SYS_VS_tim2.Signal=SYS_VS_tim2
VP_TIM1_VS_ClockSourceINT.Mode=Internal
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
VP_TIM5_VS_ClockSourceINT.Mode=Internal
VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
board=custom

16
controller/fw/bootloader/gen_compile_commands.py
View file

@ -1,8 +1,8 @@
import os
Import("env")
# include toolchain paths
env.Replace(COMPILATIONDB_INCLUDE_TOOLCHAIN=True)
# override compilation DB path
env.Replace(COMPILATIONDB_PATH="compile_commands.json")
import os
Import("env")
# include toolchain paths
env.Replace(COMPILATIONDB_INCLUDE_TOOLCHAIN=True)
# override compilation DB path
env.Replace(COMPILATIONDB_PATH="compile_commands.json")

20
controller/fw/bootloader/hex_compile.py
View file

@ -1,11 +1,11 @@
Import("env")
hex_name = "bootloader.hex"
# Custom HEX from ELF
env.AddPostAction(
"$BUILD_DIR/${PROGNAME}.elf",
env.VerboseAction(" ".join([
"$OBJCOPY", "-O", "ihex", "-R", ".eeprom",
"$BUILD_DIR/${PROGNAME}.elf", "$BUILD_DIR/{}".format(hex_name)
]), "Building $BUILD_DIR/{}".format(hex_name))
Import("env")
hex_name = "bootloader.hex"
# Custom HEX from ELF
env.AddPostAction(
"$BUILD_DIR/${PROGNAME}.elf",
env.VerboseAction(" ".join([
"$OBJCOPY", "-O", "ihex", "-R", ".eeprom",
"$BUILD_DIR/${PROGNAME}.elf", "$BUILD_DIR/{}".format(hex_name)
]), "Building $BUILD_DIR/{}".format(hex_name))
)

172
controller/fw/bootloader/include/flash.h
View file

@ -1,86 +1,86 @@
#ifndef FLASH_H_
#define FLASH_H_
#include "stm32f446xx.h"
#include <stdio.h>
#include <stdlib.h>
/* no padding for this struct, beacuse storing 8 bytes*/
typedef struct{
uint8_t data_id; // data_id = id register of can
uint8_t data_type;
uint16_t crc;
uint32_t value;
// uint32_t write_ptr_now;
}FLASH_RECORD;
enum {
addr_id = 0,
pid_p = 1,
pid_i,
pid_d,
firmw,
foc_id,
angl,
vel
};
/* for saved in FLASH float data*/
union{
uint32_t i;
float f;
}conv_float_to_int;
#define FLASH_RECORD_SIZE sizeof(FLASH_RECORD) //size flash struct
// Flash sectors for STM32F407
#define APP_ADDRESS 0x08008000
#define UPDATE_FLAG 0xDEADBEEF // flag forz update firmware
#define BOOT_CAN_ID 0x01 // CAN ID bootloader
#define BOOT_CAN_END 0x02 // CAN ID end of transfer
#define DATA_CAN_ID 0x03 // CAN ID packet data
#define ACK_CAN_ID 0x05 // CAN ID acknowledge
#define MAX_FW_SIZE 0x3FFF // Max size firmware = 256 kB
#define PARAM_COUNT 5 // count data in flash
#define SECTOR_6 0x08040000 // 128KB
#define SECTOR_6_END (SECTOR_6 + 128 * 1024) // sector 6 end
// Flash keys for unlocking flash memory
#define BYTE32 0
#define BYTE8 1
//FLASH SET ONE PROGRAMM WORD
#define FLASH_8BYTE FLASH->CR &= ~FLASH_CR_PSIZE & ~FLASH_CR_PSIZE_1
#define FLASH_32BYTE \
FLASH->CR = (FLASH->CR & ~FLASH_CR_PSIZE) | (0x2 << FLASH_CR_PSIZE_Pos)
// Flash command bits
#define FLASH_LOCK FLASH->CR |= FLASH_CR_LOCK
#define FLASH_UNLOCK FLASH->KEYR = FLASH_KEY1; FLASH->KEYR = FLASH_KEY2
// Flash status flags
#define FLASH_BUSY (FLASH->SR & FLASH_SR_BSY)
#define FLASH_ERROR (FLASH->SR & (FLASH_SR_WRPERR | FLASH_SR_PGAERR | FLASH_SR_PGPERR | FLASH_SR_PGSERR))
//for bootloader
typedef void(*pFunction)(void);
/* for start addr in FLASH */
static uint32_t write_ptr = SECTOR_6;
static uint32_t ptr_fl = APP_ADDRESS;
// Function prototypes
void flash_unlock(void);
void flash_lock(void);
void erase_sector(uint8_t sector);
void flash_program_word(uint32_t address, uint32_t data,uint32_t byte_len);
uint8_t flash_read_word(uint32_t address);
FLASH_RECORD* load_params();
void compact_page();
void flash_read(uint32_t addr,FLASH_RECORD* ptr);
uint16_t validate_crc16(uint8_t *data,uint32_t length);
void flash_write(uint32_t addr, FLASH_RECORD* record);
void write_flash_page(const uint8_t* data, uint16_t len);
void erase_flash_pages();
void write_param(uint8_t param_id,uint32_t val);
uint16_t calc_crc_struct(FLASH_RECORD* res);
#endif /* FLASH_H_ */
#ifndef FLASH_H_
#define FLASH_H_
#include "stm32f446xx.h"
#include <stdio.h>
#include <stdlib.h>
/* no padding for this struct, beacuse storing 8 bytes*/
typedef struct{
uint8_t data_id; // data_id = id register of can
uint8_t data_type;
uint16_t crc;
uint32_t value;
// uint32_t write_ptr_now;
}FLASH_RECORD;
enum {
addr_id = 0,
pid_p = 1,
pid_i,
pid_d,
firmw,
foc_id,
angl,
vel
};
/* for saved in FLASH float data*/
union{
uint32_t i;
float f;
}conv_float_to_int;
#define FLASH_RECORD_SIZE sizeof(FLASH_RECORD) //size flash struct
// Flash sectors for STM32F407
#define APP_ADDRESS 0x08008000
#define UPDATE_FLAG 0xDEADBEEF // flag forz update firmware
#define BOOT_CAN_ID 0x01 // CAN ID bootloader
#define BOOT_CAN_END 0x02 // CAN ID end of transfer
#define DATA_CAN_ID 0x03 // CAN ID packet data
#define ACK_CAN_ID 0x05 // CAN ID acknowledge
#define MAX_FW_SIZE 0x3FFF // Max size firmware = 256 kB
#define PARAM_COUNT 5 // count data in flash
#define SECTOR_6 0x08040000 // 128KB
#define SECTOR_6_END (SECTOR_6 + 128 * 1024) // sector 6 end
// Flash keys for unlocking flash memory
#define BYTE32 0
#define BYTE8 1
//FLASH SET ONE PROGRAMM WORD
#define FLASH_8BYTE FLASH->CR &= ~FLASH_CR_PSIZE & ~FLASH_CR_PSIZE_1
#define FLASH_32BYTE \
FLASH->CR = (FLASH->CR & ~FLASH_CR_PSIZE) | (0x2 << FLASH_CR_PSIZE_Pos)
// Flash command bits
#define FLASH_LOCK FLASH->CR |= FLASH_CR_LOCK
#define FLASH_UNLOCK FLASH->KEYR = FLASH_KEY1; FLASH->KEYR = FLASH_KEY2
// Flash status flags
#define FLASH_BUSY (FLASH->SR & FLASH_SR_BSY)
#define FLASH_ERROR (FLASH->SR & (FLASH_SR_WRPERR | FLASH_SR_PGAERR | FLASH_SR_PGPERR | FLASH_SR_PGSERR))
//for bootloader
typedef void(*pFunction)(void);
/* for start addr in FLASH */
static uint32_t write_ptr = SECTOR_6;
static uint32_t ptr_fl = APP_ADDRESS;
// Function prototypes
void flash_unlock(void);
void flash_lock(void);
void erase_sector(uint8_t sector);
void flash_program_word(uint32_t address, uint32_t data,uint32_t byte_len);
uint8_t flash_read_word(uint32_t address);
FLASH_RECORD* load_params();
void compact_page();
void flash_read(uint32_t addr,FLASH_RECORD* ptr);
uint16_t validate_crc16(uint8_t *data,uint32_t length);
void flash_write(uint32_t addr, FLASH_RECORD* record);
void write_flash_page(const uint8_t* data, uint16_t len);
void erase_flash_pages();
void write_param(uint8_t param_id,uint32_t val);
uint16_t calc_crc_struct(FLASH_RECORD* res);
#endif /* FLASH_H_ */

76
controller/fw/bootloader/include/hal_conf_extra.h
View file

@ -1,38 +1,38 @@
#pragma once
#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
#define AS5045_MISO PB14
#define AS5045_MOSI PC1
#define AS5045_SCLK PB10
#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>
#pragma once
#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
#define AS5045_MISO PB14
#define AS5045_MOSI PC1
#define AS5045_SCLK PB10
#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>

76
controller/fw/bootloader/include/reg_cah.h
View file

@ -1,38 +1,38 @@
#ifndef REG_CAH_H_
#define REG_CAH_H_
#define APP_ADDR 0x0800400 // 16KB - Application
#define ADDR_VAR 0x8040000
#define REG_READ 0x07
#define REG_WRITE 0x08
/* Startup ID device */
#define START_ID 0x00
/* CAN REGISTER ID */
#define REG_ID 0x01
#define REG_BAUDRATE 0x02
#define REG_MOTOR_POSPID_Kp 0x30
#define REG_MOTOR_POSPID_Ki 0x31
#define REG_MOTOR_POSPID_Kd 0x32
#define REG_MOTOR_VELPID_Kp 0x40
#define REG_MOTOR_VELPID_Ki 0x41
#define REG_MOTOR_VELPID_Kd 0x42
#define REG_MOTOR_IMPPID_Kp 0x50
#define REG_MOTOR_IMPPID_Kd 0x51
#define REG_RESET 0x88
#define REG_LED_BLINK 0x8B
#define FOC_STATE 0x60
#define MOTOR_VELOCITY 0x70
#define MOTOR_ENABLED 0x71
#define MOTOR_ANGLE 0x72
#endif // REG_CAH_H_
#ifndef REG_CAH_H_
#define REG_CAH_H_
#define APP_ADDR 0x0800400 // 16KB - Application
#define ADDR_VAR 0x8040000
#define REG_READ 0x07
#define REG_WRITE 0x08
/* Startup ID device */
#define START_ID 0x00
/* CAN REGISTER ID */
#define REG_ID 0x01
#define REG_BAUDRATE 0x02
#define REG_MOTOR_POSPID_Kp 0x30
#define REG_MOTOR_POSPID_Ki 0x31
#define REG_MOTOR_POSPID_Kd 0x32
#define REG_MOTOR_VELPID_Kp 0x40
#define REG_MOTOR_VELPID_Ki 0x41
#define REG_MOTOR_VELPID_Kd 0x42
#define REG_MOTOR_IMPPID_Kp 0x50
#define REG_MOTOR_IMPPID_Kd 0x51
#define REG_RESET 0x88
#define REG_LED_BLINK 0x8B
#define FOC_STATE 0x60
#define MOTOR_VELOCITY 0x70
#define MOTOR_ENABLED 0x71
#define MOTOR_ANGLE 0x72
#endif // REG_CAH_H_

62
controller/fw/bootloader/platformio.ini
View file

@ -1,31 +1,31 @@
; 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 = 19200
monitor_parity = N
build_flags =
-DSTM32F446xx
-D HAL_CAN_MODULE_ENABLED
-D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
lib_deps =
askuric/Simple FOC@^2.3.4
pazi88/STM32_CAN@^1.1.2
extra_scripts =
pre:gen_compile_commands.py
post:hex_compile.py
; 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 = 19200
monitor_parity = N
build_flags =
-DSTM32F446xx
-D HAL_CAN_MODULE_ENABLED
-D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
lib_deps =
askuric/Simple FOC@^2.3.4
pazi88/STM32_CAN@^1.1.2
extra_scripts =
pre:gen_compile_commands.py
post:hex_compile.py

544
controller/fw/bootloader/src/flash.cpp
View file

@ -1,272 +1,272 @@
#include "flash.h"
#include <stdbool.h>
#include "hal_conf_extra.h"
void flash_unlock(){
// Check if flash is locked
if(!(FLASH->CR & FLASH_CR_LOCK)) {
return; // Already unlocked
}
// Write flash key sequence to unlock
FLASH->KEYR = 0x45670123; // First key
FLASH->KEYR = 0xCDEF89AB; // Second key
}
void flash_lock() {
if(FLASH->CR & FLASH_CR_LOCK) {
return; // Already locked
}
FLASH->CR |= FLASH_CR_LOCK; // Lock flash memory
}
void erase_sector(uint8_t sector){
// Wait if flash is busy
while(FLASH_BUSY);
// Check if flash is locked and unlock if needed
if(FLASH->CR & FLASH_CR_LOCK) {
flash_unlock();
}
// Set sector erase bit and sector number
FLASH->CR |= FLASH_CR_SER;
FLASH->CR &= ~FLASH_CR_SNB;
FLASH->CR |= (sector << FLASH_CR_SNB_Pos) & FLASH_CR_SNB_Msk;
// Start erase
FLASH->CR |= FLASH_CR_STRT;
// Wait for erase to complete
while(FLASH_BUSY);
// Clear sector erase bit
FLASH->CR &= ~FLASH_CR_SER;
}
void flash_program_word(uint32_t address,uint32_t data,uint32_t byte_len){
// Wait if flash is busy
while(FLASH_BUSY);
// Check if flash is locked and unlock if needed
if(FLASH->CR & FLASH_CR_LOCK) {
flash_unlock();
}
// Set program bit 32bit programm size and Write data to address
if(byte_len == 1) {
FLASH_8BYTE;
FLASH->CR |= FLASH_CR_PG;
*(volatile uint8_t*)address = (uint8_t)data;
} else {
FLASH_32BYTE;
FLASH->CR |= FLASH_CR_PG;
*(volatile uint32_t*)address = data;
}
// Wait for programming to complete
while(FLASH_BUSY);
// Clear program bit
FLASH->CR &= ~FLASH_CR_PG;
}
void flash_write(uint32_t addr, FLASH_RECORD* record){
uint32_t* data = (uint32_t*)record;
uint32_t size = FLASH_RECORD_SIZE / 4; //count words in struct
// Wait if flash is busy
while(FLASH_BUSY);
// Check if flash is locked and unlock if needed
if(FLASH->CR & FLASH_CR_LOCK) {
flash_unlock();
}
// Set program bit and write data to flash
FLASH_32BYTE;
FLASH->CR |= FLASH_CR_PG;
for(int i = 0;i < size;i++){
*(volatile uint32_t*)(addr + (i * 4)) = data[i];
}
// Clear program bit
FLASH->CR &= ~FLASH_CR_PG;
write_ptr = addr + (size * 4); //increase variable storing addr
flash_lock();
}
uint8_t flash_read_word(uint32_t address){
// Check if address is valid
if(address < FLASH_BASE || address > FLASH_END) {
return 0;
}
// Read byte from flash memory
return *((volatile uint8_t*)address);
}
// Wait if flash
// bool validata_crc(FLASH_RECORD* crc){
// return crc->crc == 0x6933? true : false;
// }
uint16_t validate_crc16(uint8_t *data, uint32_t length) {
uint16_t crc = 0xFFFF; // start value for CRC MODBUS
while (length--) {
crc ^= *data++; // XOR
for (uint8_t i = 0; i < 8; i++) {
if (crc & 0x0001) {
crc = (crc >> 1) ^ 0xA001; // polynome 0x8005 (reverse)
} else {
crc >>= 1;
}
}
}
return crc;
}
uint16_t calc_crc_struct(FLASH_RECORD* res){
uint8_t arr_res[FLASH_RECORD_SIZE - 2];
uint16_t crc_res;
/* sorting data without CRC */
arr_res[0] = res->data_id;
arr_res[1] = res->data_type;
/* from 32 to 8 bit */
for(int i = 0;i < 4;i++)
arr_res[i + 2] = (uint8_t)(res->value >> i * 8);
crc_res = validate_crc16(arr_res,FLASH_RECORD_SIZE - 2);
return crc_res;
}
/* read struct from FLASH */
void flash_read(uint32_t addr,FLASH_RECORD* ptr){
uint8_t* flash_ptr = (uint8_t*)addr;
uint8_t* dest = (uint8_t*)ptr;
for(int i = 0;i < FLASH_RECORD_SIZE;i++)
dest[i] = flash_ptr[i];
}
void compact_page(){
FLASH_RECORD latest[PARAM_COUNT] = {0};
for(int i = (uint32_t)SECTOR_6;i < (uint32_t)SECTOR_6_END;i += FLASH_RECORD_SIZE) {
FLASH_RECORD rec;
flash_read(i,&rec);
uint16_t calculated_crc = calc_crc_struct(&rec);
if (calculated_crc == rec.crc && rec.data_id < PARAM_COUNT) {
// if the crc does not match, we check further
latest[rec.data_id] = rec;
}
else
// if
continue;
}
erase_sector(6);
write_ptr = SECTOR_6; // Сброс на начало
for (int i = 0; i < PARAM_COUNT; i++) {
if (latest[i].data_id != 0xFF) {
// alignment
if (write_ptr % 4 != 0) {
write_ptr += (4 - (write_ptr % 4));
}
flash_write(write_ptr, &latest[i]);
}
}
}
void write_param(uint8_t param_id, uint32_t val) {
FLASH_RECORD param_flash;
// __disable_irq(); // Interrupt off
param_flash.data_id = param_id;
param_flash.value = val;
param_flash.data_type = sizeof(uint8_t);
param_flash.crc = calc_crc_struct(&param_flash);
// check alignment
if (write_ptr % 8 != 0) {
write_ptr += (8 - (write_ptr % 8));
}
// check buffer overflow
if (write_ptr + FLASH_RECORD_SIZE >= SECTOR_6_END) {
compact_page(); // after compact_page update
// alignment
if (write_ptr % 8 != 0) {
write_ptr += (8 - (write_ptr % 8));
}
}
flash_write(write_ptr, &param_flash); //inside the function, the write_ptr pointer is automatically incremented by the size of the structure
// __enable_irq(); // Interrupt on
}
void write_flash_page(const uint8_t* data, uint16_t len) { // Добавлен const
flash_unlock();
uint32_t word = 0;
for (uint16_t i = 0; i < len; i += 4) {
memcpy(&word, &data[i], 4); // Безопасное копирование
HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, ptr_fl + i, word);
}
ptr_fl += len;
flash_lock();
}
void erase_flash_pages() {
FLASH_EraseInitTypeDef erase;
erase.TypeErase = FLASH_TYPEERASE_SECTORS;
erase.Sector = FLASH_SECTOR_2;
erase.NbSectors = 4;
erase.VoltageRange = FLASH_VOLTAGE_RANGE_3;
uint32_t error;
flash_unlock();
HAL_FLASHEx_Erase(&erase, &error);
flash_lock();
}
FLASH_RECORD* load_params(){
__disable_irq();
static FLASH_RECORD latest[PARAM_COUNT] = {0};
FLASH_RECORD res;
for(uint32_t addr = SECTOR_6;addr < SECTOR_6_END;addr +=FLASH_RECORD_SIZE) {
flash_read(addr,&res);
uint16_t calculated_crc = calc_crc_struct(&res);
if (calculated_crc != res.crc || res.data_id >= PARAM_COUNT) continue;
else{
latest[res.data_id] = res;
write_ptr = addr + FLASH_RECORD_SIZE;
}
}
__enable_irq();
return latest;
}
#include "flash.h"
#include <stdbool.h>
#include "hal_conf_extra.h"
void flash_unlock(){
// Check if flash is locked
if(!(FLASH->CR & FLASH_CR_LOCK)) {
return; // Already unlocked
}
// Write flash key sequence to unlock
FLASH->KEYR = 0x45670123; // First key
FLASH->KEYR = 0xCDEF89AB; // Second key
}
void flash_lock() {
if(FLASH->CR & FLASH_CR_LOCK) {
return; // Already locked
}
FLASH->CR |= FLASH_CR_LOCK; // Lock flash memory
}
void erase_sector(uint8_t sector){
// Wait if flash is busy
while(FLASH_BUSY);
// Check if flash is locked and unlock if needed
if(FLASH->CR & FLASH_CR_LOCK) {
flash_unlock();
}
// Set sector erase bit and sector number
FLASH->CR |= FLASH_CR_SER;
FLASH->CR &= ~FLASH_CR_SNB;
FLASH->CR |= (sector << FLASH_CR_SNB_Pos) & FLASH_CR_SNB_Msk;
// Start erase
FLASH->CR |= FLASH_CR_STRT;
// Wait for erase to complete
while(FLASH_BUSY);
// Clear sector erase bit
FLASH->CR &= ~FLASH_CR_SER;
}
void flash_program_word(uint32_t address,uint32_t data,uint32_t byte_len){
// Wait if flash is busy
while(FLASH_BUSY);
// Check if flash is locked and unlock if needed
if(FLASH->CR & FLASH_CR_LOCK) {
flash_unlock();
}
// Set program bit 32bit programm size and Write data to address
if(byte_len == 1) {
FLASH_8BYTE;
FLASH->CR |= FLASH_CR_PG;
*(volatile uint8_t*)address = (uint8_t)data;
} else {
FLASH_32BYTE;
FLASH->CR |= FLASH_CR_PG;
*(volatile uint32_t*)address = data;
}
// Wait for programming to complete
while(FLASH_BUSY);
// Clear program bit
FLASH->CR &= ~FLASH_CR_PG;
}
void flash_write(uint32_t addr, FLASH_RECORD* record){
uint32_t* data = (uint32_t*)record;
uint32_t size = FLASH_RECORD_SIZE / 4; //count words in struct
// Wait if flash is busy
while(FLASH_BUSY);
// Check if flash is locked and unlock if needed
if(FLASH->CR & FLASH_CR_LOCK) {
flash_unlock();
}
// Set program bit and write data to flash
FLASH_32BYTE;
FLASH->CR |= FLASH_CR_PG;
for(int i = 0;i < size;i++){
*(volatile uint32_t*)(addr + (i * 4)) = data[i];
}
// Clear program bit
FLASH->CR &= ~FLASH_CR_PG;
write_ptr = addr + (size * 4); //increase variable storing addr
flash_lock();
}
uint8_t flash_read_word(uint32_t address){
// Check if address is valid
if(address < FLASH_BASE || address > FLASH_END) {
return 0;
}
// Read byte from flash memory
return *((volatile uint8_t*)address);
}
// Wait if flash
// bool validata_crc(FLASH_RECORD* crc){
// return crc->crc == 0x6933? true : false;
// }
uint16_t validate_crc16(uint8_t *data, uint32_t length) {
uint16_t crc = 0xFFFF; // start value for CRC MODBUS
while (length--) {
crc ^= *data++; // XOR
for (uint8_t i = 0; i < 8; i++) {
if (crc & 0x0001) {
crc = (crc >> 1) ^ 0xA001; // polynome 0x8005 (reverse)
} else {
crc >>= 1;
}
}
}
return crc;
}
uint16_t calc_crc_struct(FLASH_RECORD* res){
uint8_t arr_res[FLASH_RECORD_SIZE - 2];
uint16_t crc_res;
/* sorting data without CRC */
arr_res[0] = res->data_id;
arr_res[1] = res->data_type;
/* from 32 to 8 bit */
for(int i = 0;i < 4;i++)
arr_res[i + 2] = (uint8_t)(res->value >> i * 8);
crc_res = validate_crc16(arr_res,FLASH_RECORD_SIZE - 2);
return crc_res;
}
/* read struct from FLASH */
void flash_read(uint32_t addr,FLASH_RECORD* ptr){
uint8_t* flash_ptr = (uint8_t*)addr;
uint8_t* dest = (uint8_t*)ptr;
for(int i = 0;i < FLASH_RECORD_SIZE;i++)
dest[i] = flash_ptr[i];
}
void compact_page(){
FLASH_RECORD latest[PARAM_COUNT] = {0};
for(int i = (uint32_t)SECTOR_6;i < (uint32_t)SECTOR_6_END;i += FLASH_RECORD_SIZE) {
FLASH_RECORD rec;
flash_read(i,&rec);
uint16_t calculated_crc = calc_crc_struct(&rec);
if (calculated_crc == rec.crc && rec.data_id < PARAM_COUNT) {
// if the crc does not match, we check further
latest[rec.data_id] = rec;
}
else
// if
continue;
}
erase_sector(6);
write_ptr = SECTOR_6; // Сброс на начало
for (int i = 0; i < PARAM_COUNT; i++) {
if (latest[i].data_id != 0xFF) {
// alignment
if (write_ptr % 4 != 0) {
write_ptr += (4 - (write_ptr % 4));
}
flash_write(write_ptr, &latest[i]);
}
}
}
void write_param(uint8_t param_id, uint32_t val) {
FLASH_RECORD param_flash;
// __disable_irq(); // Interrupt off
param_flash.data_id = param_id;
param_flash.value = val;
param_flash.data_type = sizeof(uint8_t);
param_flash.crc = calc_crc_struct(&param_flash);
// check alignment
if (write_ptr % 8 != 0) {
write_ptr += (8 - (write_ptr % 8));
}
// check buffer overflow
if (write_ptr + FLASH_RECORD_SIZE >= SECTOR_6_END) {
compact_page(); // after compact_page update
// alignment
if (write_ptr % 8 != 0) {
write_ptr += (8 - (write_ptr % 8));
}
}
flash_write(write_ptr, &param_flash); //inside the function, the write_ptr pointer is automatically incremented by the size of the structure
// __enable_irq(); // Interrupt on
}
void write_flash_page(const uint8_t* data, uint16_t len) { // Добавлен const
flash_unlock();
uint32_t word = 0;
for (uint16_t i = 0; i < len; i += 4) {
memcpy(&word, &data[i], 4); // Безопасное копирование
HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, ptr_fl + i, word);
}
ptr_fl += len;
flash_lock();
}
void erase_flash_pages() {
FLASH_EraseInitTypeDef erase;
erase.TypeErase = FLASH_TYPEERASE_SECTORS;
erase.Sector = FLASH_SECTOR_2;
erase.NbSectors = 4;
erase.VoltageRange = FLASH_VOLTAGE_RANGE_3;
uint32_t error;
flash_unlock();
HAL_FLASHEx_Erase(&erase, &error);
flash_lock();
}
FLASH_RECORD* load_params(){
__disable_irq();
static FLASH_RECORD latest[PARAM_COUNT] = {0};
FLASH_RECORD res;
for(uint32_t addr = SECTOR_6;addr < SECTOR_6_END;addr +=FLASH_RECORD_SIZE) {
flash_read(addr,&res);
uint16_t calculated_crc = calc_crc_struct(&res);
if (calculated_crc != res.crc || res.data_id >= PARAM_COUNT) continue;
else{
latest[res.data_id] = res;
write_ptr = addr + FLASH_RECORD_SIZE;
}
}
__enable_irq();
return latest;
}

340
controller/fw/bootloader/src/main.cpp
View file

@ -1,171 +1,171 @@
#include "Arduino.h"
#include <STM32_CAN.h>
#include "flash.h"
STM32_CAN Can(CAN2, DEF);
volatile bool fw_update = false;
volatile bool app_valid = false;
volatile uint32_t fw_size = 0;
volatile uint16_t fw_crc = 0;
volatile uint32_t jump;
static FLASH_RECORD *flash_record = {0};
static uint32_t ptr_flash;
volatile uint32_t msg_id;
volatile uint16_t id_x;
volatile uint8_t msg_ch;
// Прототипы функций
void jump_to_app();
void process_can_message(const CAN_message_t &msg);
void erase_flash_pages();
bool verify_firmware();
void send_ack(uint8_t status);
bool is_app_valid();
void setup() {
Serial.setRx(HARDWARE_SERIAL_RX_PIN);
Serial.setTx(HARDWARE_SERIAL_TX_PIN);
Serial.begin(115200);
Can.begin();
Can.setBaudRate(1000000);
TIM_TypeDef *Instance = TIM2;
HardwareTimer *SendTimer = new HardwareTimer(Instance);
SendTimer->setOverflow(100, HERTZ_FORMAT); // 50 Hz
SendTimer->resume();
Can.setFilter(0, 0, STD);
// Настройка GPIO
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0;
GPIOC->ODR &= ~GPIO_ODR_OD11;
GPIOC->ODR |= GPIO_ODR_OD10;
flash_record = load_params();
if(flash_record[firmw].value == UPDATE_FLAG) {
fw_update = true;
for(int i = 0; i < 5;i++){
GPIOC->ODR ^= GPIO_ODR_OD10; // Indecate message
delay(100);
}
// write_param(firmw,0); //reset flasg
erase_flash_pages();
}
else{
// for st-link update, because he doesnt reset flag_update
if(is_app_valid()) jump_to_app(); //firmware exist
else fw_update = true; //firmware doesnt exist, but we in bootloader
}
GPIOC->ODR |= GPIO_ODR_OD10;
}
void process_can_message(const CAN_message_t &msg) {
msg_id = msg.id;
/* 0x697
69 - slave addr
7 || 8 - REG_READ or REG_WRITE */
id_x = (msg_id >> 4) & 0xFFFF; // saved address
msg_ch = msg_id & 0xF; // saved id
if(id_x == flash_record[addr_id].value){
switch(msg_ch) {
case BOOT_CAN_ID:
if(msg.buf[0] == 0x01) { // start transfer
fw_size = *(uint32_t*)&msg.buf[1]; //size of firmware
fw_crc = *(uint16_t*)&msg.buf[5]; //crc
ptr_flash = APP_ADDRESS;
send_ack(0x01);
}
break;
case DATA_CAN_ID: // Data packet
if(ptr_flash < (APP_ADDRESS + fw_size)) {
write_flash_page((const uint8_t*)msg.buf, msg.len);
ptr_flash += msg.len;
send_ack(0x02);
}
break;
case BOOT_CAN_END: // End of transfer
if(verify_firmware()) {
send_ack(0xAA);
write_param(firmw,0); //reset flag set 0
fw_update = false; //reset flag
// erase_sector(7);
delay(500);
NVIC_SystemReset();
} else {
send_ack(0x55);
erase_flash_pages(); //if error
}
break;
}
}
}
void jump_to_app() {
__disable_irq();
jump = *(volatile uint32_t*)(APP_ADDRESS + 4);
void (*app_entry)(void);
app_entry = (void (*)(void))jump;
for (uint32_t i = 0; i < 8; i++) {
NVIC->ICPR[i] = 0xFFFFFFFF;
}
__set_MSP(*(volatile uint32_t*)APP_ADDRESS);
// SCB->VTOR = (uint32_t)0x08008004;
app_entry();
}
bool verify_firmware() {
uint16_t calculated_crc = 0;
calculated_crc = validate_crc16((uint8_t*)APP_ADDRESS,fw_size);
return (calculated_crc == fw_crc);
}
void send_ack(uint8_t status) {
CAN_message_t ack;
ack.id = ACK_CAN_ID;
ack.len = 1;
ack.buf[0] = status;
Can.write(ack);
}
bool is_app_valid() {
volatile uint32_t* app_vector = (volatile uint32_t*)APP_ADDRESS;
// Check stack pointer
bool sp_valid = (app_vector[0] >= 0x20000000) &&
(app_vector[0] <= (0x20000000 + 128*1024)); // Для STM32 с 128K RAM
// check reset_handler
bool pc_valid = (app_vector[1] >= 0x08000000) &&
(app_vector[1] <= (0x08000000 + 1024*1024)); // Для 1MB Flash
// check two words on reset value
bool not_erased = (app_vector[0] != 0xFFFFFFFF) &&
(app_vector[1] != 0xFFFFFFFF);
return sp_valid && pc_valid && not_erased;
}
void loop() {
if(fw_update) {
CAN_message_t msg;
while(Can.read(msg))
process_can_message(msg);
}
#include "Arduino.h"
#include <STM32_CAN.h>
#include "flash.h"
STM32_CAN Can(CAN2, DEF);
volatile bool fw_update = false;
volatile bool app_valid = false;
volatile uint32_t fw_size = 0;
volatile uint16_t fw_crc = 0;
volatile uint32_t jump;
static FLASH_RECORD *flash_record = {0};
static uint32_t ptr_flash;
volatile uint32_t msg_id;
volatile uint16_t id_x;
volatile uint8_t msg_ch;
// Прототипы функций
void jump_to_app();
void process_can_message(const CAN_message_t &msg);
void erase_flash_pages();
bool verify_firmware();
void send_ack(uint8_t status);
bool is_app_valid();
void setup() {
Serial.setRx(HARDWARE_SERIAL_RX_PIN);
Serial.setTx(HARDWARE_SERIAL_TX_PIN);
Serial.begin(115200);
Can.begin();
Can.setBaudRate(1000000);
TIM_TypeDef *Instance = TIM2;
HardwareTimer *SendTimer = new HardwareTimer(Instance);
SendTimer->setOverflow(100, HERTZ_FORMAT); // 50 Hz
SendTimer->resume();
Can.setFilter(0, 0, STD);
// Настройка GPIO
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0;
GPIOC->ODR &= ~GPIO_ODR_OD11;
GPIOC->ODR |= GPIO_ODR_OD10;
flash_record = load_params();
if(flash_record[firmw].value == UPDATE_FLAG) {
fw_update = true;
for(int i = 0; i < 5;i++){
GPIOC->ODR ^= GPIO_ODR_OD10; // Indecate message
delay(100);
}
// write_param(firmw,0); //reset flasg
erase_flash_pages();
}
else{
// for st-link update, because he doesnt reset flag_update
if(is_app_valid()) jump_to_app(); //firmware exist
else fw_update = true; //firmware doesnt exist, but we in bootloader
}
GPIOC->ODR |= GPIO_ODR_OD10;
}
void process_can_message(const CAN_message_t &msg) {
msg_id = msg.id;
/* 0x697
69 - slave addr
7 || 8 - REG_READ or REG_WRITE */
id_x = (msg_id >> 4) & 0xFFFF; // saved address
msg_ch = msg_id & 0xF; // saved id
if(id_x == flash_record[addr_id].value){
switch(msg_ch) {
case BOOT_CAN_ID:
if(msg.buf[0] == 0x01) { // start transfer
fw_size = *(uint32_t*)&msg.buf[1]; //size of firmware
fw_crc = *(uint16_t*)&msg.buf[5]; //crc
ptr_flash = APP_ADDRESS;
send_ack(0x01);
}
break;
case DATA_CAN_ID: // Data packet
if(ptr_flash < (APP_ADDRESS + fw_size)) {
write_flash_page((const uint8_t*)msg.buf, msg.len);
ptr_flash += msg.len;
send_ack(0x02);
}
break;
case BOOT_CAN_END: // End of transfer
if(verify_firmware()) {
send_ack(0xAA);
write_param(firmw,0); //reset flag set 0
fw_update = false; //reset flag
// erase_sector(7);
delay(500);
NVIC_SystemReset();
} else {
send_ack(0x55);
erase_flash_pages(); //if error
}
break;
}
}
}
void jump_to_app() {
__disable_irq();
jump = *(volatile uint32_t*)(APP_ADDRESS + 4);
void (*app_entry)(void);
app_entry = (void (*)(void))jump;
for (uint32_t i = 0; i < 8; i++) {
NVIC->ICPR[i] = 0xFFFFFFFF;
}
__set_MSP(*(volatile uint32_t*)APP_ADDRESS);
// SCB->VTOR = (uint32_t)0x08008004;
app_entry();
}
bool verify_firmware() {
uint16_t calculated_crc = 0;
calculated_crc = validate_crc16((uint8_t*)APP_ADDRESS,fw_size);
return (calculated_crc == fw_crc);
}
void send_ack(uint8_t status) {
CAN_message_t ack;
ack.id = ACK_CAN_ID;
ack.len = 1;
ack.buf[0] = status;
Can.write(ack);
}
bool is_app_valid() {
volatile uint32_t* app_vector = (volatile uint32_t*)APP_ADDRESS;
// Check stack pointer
bool sp_valid = (app_vector[0] >= 0x20000000) &&
(app_vector[0] <= (0x20000000 + 128*1024)); // Для STM32 с 128K RAM
// check reset_handler
bool pc_valid = (app_vector[1] >= 0x08000000) &&
(app_vector[1] <= (0x08000000 + 1024*1024)); // Для 1MB Flash
// check two words on reset value
bool not_erased = (app_vector[0] != 0xFFFFFFFF) &&
(app_vector[1] != 0xFFFFFFFF);
return sp_valid && pc_valid && not_erased;
}
void loop() {
if(fw_update) {
CAN_message_t msg;
while(Can.read(msg))
process_can_message(msg);
}
}

282
controller/fw/bootloader/test/firmware_can.py
View file

@ -1,141 +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])
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])

140
controller/fw/bootloader/test/firmware_update_flag.py
View file

@ -1,70 +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)
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)

156
controller/fw/bootloader/test/st-link.py
View file

@ -1,78 +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)
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)

200
controller/fw/bootloader/test/st-link_full.py
View file

@ -1,100 +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)
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)

2
controller/fw/embed/.clang-tidy
View file

@ -1 +1 @@
Checks: '-*, -misc-definitions-in-headers'
Checks: '-*, -misc-definitions-in-headers'

36
controller/fw/embed/.clangd
View file

@ -1,18 +1,18 @@
CompileFlags:
Add:
[
# -mlong-calls,
-DSSIZE_MAX,
-DLWIP_NO_UNISTD_H=1,
-Dssize_t=long,
-D_SSIZE_T_DECLARED,
]
Remove:
[
-fno-tree-switch-conversion,
-mtext-section-literals,
-mlongcalls,
-fstrict-volatile-bitfields,
-free,
-fipa-pta,
]
CompileFlags:
Add:
[
# -mlong-calls,
-DSSIZE_MAX,
-DLWIP_NO_UNISTD_H=1,
-Dssize_t=long,
-D_SSIZE_T_DECLARED,
]
Remove:
[
-fno-tree-switch-conversion,
-mtext-section-literals,
-mlongcalls,
-fstrict-volatile-bitfields,
-free,
-fipa-pta,
]

20
controller/fw/embed/.gitignore vendored
View file

@ -1,10 +1,10 @@
.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
.cache/
.metadata/
cubemx_config/
compile_commands.json
../embed.rar
.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
.cache/
.metadata/
cubemx_config/
compile_commands.json
../embed.rar

38
controller/fw/embed/check_gcc_version.py
View file

@ -1,19 +1,19 @@
Import("env")
# Получаем путь к компилятору из окружения PlatformIO
gcc_path = env.subst("$CC")
# Выполняем команду для получения версии компилятора
import subprocess
try:
result = subprocess.run([gcc_path, "--version"], stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
if result.returncode == 0:
print(f"GCC version: {result.stdout}")
else:
print(f"Failed to get GCC version: {result.stderr}")
except Exception as e:
print(f"Error while getting GCC version: {e}")
# Дополнительно проверяем путь к компилятору
print(f"Compiler path: {gcc_path}")
Import("env")
# Получаем путь к компилятору из окружения PlatformIO
gcc_path = env.subst("$CC")
# Выполняем команду для получения версии компилятора
import subprocess
try:
result = subprocess.run([gcc_path, "--version"], stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
if result.returncode == 0:
print(f"GCC version: {result.stdout}")
else:
print(f"Failed to get GCC version: {result.stderr}")
except Exception as e:
print(f"Error while getting GCC version: {e}")
# Дополнительно проверяем путь к компилятору
print(f"Compiler path: {gcc_path}")

598
controller/fw/embed/cubemx_config.ioc
View file

@ -1,299 +1,299 @@
#MicroXplorer Configuration settings - do not modify
ADC2.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_15
ADC2.Channel-5\#ChannelRegularConversion=ADC_CHANNEL_8
ADC2.Channel-6\#ChannelRegularConversion=ADC_CHANNEL_9
ADC2.EOCSelection=ADC_EOC_SEQ_CONV
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
ADC2.InjNumberOfConversion=0
ADC2.NbrOfConversion=3
ADC2.NbrOfConversionFlag=1
ADC2.Rank-1\#ChannelRegularConversion=1
ADC2.Rank-5\#ChannelRegularConversion=2
ADC2.Rank-6\#ChannelRegularConversion=3
ADC2.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC2.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC2.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configTIMER_TASK_PRIORITY
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configENABLE_FPU=1
FREERTOS.configTIMER_TASK_PRIORITY=1
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
Mcu.CPN=STM32F446RET6
Mcu.Family=STM32F4
Mcu.IP0=ADC2
Mcu.IP1=FREERTOS
Mcu.IP2=NVIC
Mcu.IP3=RCC
Mcu.IP4=SPI2
Mcu.IP5=SYS
Mcu.IP6=TIM1
Mcu.IP7=TIM3
Mcu.IP8=TIM5
Mcu.IP9=USART1
Mcu.IPNb=10
Mcu.Name=STM32F446R(C-E)Tx
Mcu.Package=LQFP64
Mcu.Pin0=PC1
Mcu.Pin1=PC5
Mcu.Pin10=PC9
Mcu.Pin11=PA8
Mcu.Pin12=PA9
Mcu.Pin13=PA10
Mcu.Pin14=PA11
Mcu.Pin15=PA12
Mcu.Pin16=PA13
Mcu.Pin17=PA14
Mcu.Pin18=PC10
Mcu.Pin19=PC11
Mcu.Pin2=PB0
Mcu.Pin20=PC12
Mcu.Pin21=PD2
Mcu.Pin22=PB6
Mcu.Pin23=PB7
Mcu.Pin24=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin25=VP_SYS_VS_tim2
Mcu.Pin26=VP_TIM1_VS_ClockSourceINT
Mcu.Pin27=VP_TIM3_VS_ClockSourceINT
Mcu.Pin28=VP_TIM5_VS_ClockSourceINT
Mcu.Pin3=PB1
Mcu.Pin4=PB10
Mcu.Pin5=PB14
Mcu.Pin6=PB15
Mcu.Pin7=PC6
Mcu.Pin8=PC7
Mcu.Pin9=PC8
Mcu.PinsNb=29
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F446RETx
MxCube.Version=6.5.0
MxDb.Version=DB.6.0.50
NVIC.ADC_IRQn=true\:5\:0\:true\:true\:true\:1\:true\:true\:true\:true
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM2_IRQn=true\:15\:0\:true\:false\:true\:false\:false\:true\:true
NVIC.TIM3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.TimeBase=TIM2_IRQn
NVIC.TimeBaseIP=TIM2
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
PA10.Signal=S_TIM1_CH3
PA11.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PA11.GPIO_Label=EN_U
PA11.GPIO_PuPd=GPIO_PULLDOWN
PA11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA11.Locked=true
PA11.Signal=GPIO_Output
PA12.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PA12.GPIO_Label=EN_V
PA12.GPIO_PuPd=GPIO_PULLDOWN
PA12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA12.Locked=true
PA12.Signal=GPIO_Output
PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
PA8.Signal=S_TIM1_CH1
PA9.Signal=S_TIM1_CH2
PB0.GPIOParameters=GPIO_Label
PB0.GPIO_Label=SENSE2
PB0.Locked=true
PB0.Signal=ADCx_IN8
PB1.GPIOParameters=GPIO_Label
PB1.GPIO_Label=SENSE1
PB1.Locked=true
PB1.Signal=ADCx_IN9
PB10.Locked=true
PB10.Mode=Full_Duplex_Master
PB10.Signal=SPI2_SCK
PB14.Locked=true
PB14.Mode=Full_Duplex_Master
PB14.Signal=SPI2_MISO
PB15.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PB15.GPIO_Label=AS5045_CS
PB15.GPIO_PuPd=GPIO_PULLUP
PB15.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PB15.Locked=true
PB15.PinState=GPIO_PIN_SET
PB15.Signal=GPIO_Output
PB6.Mode=Asynchronous
PB6.Signal=USART1_TX
PB7.Mode=Asynchronous
PB7.Signal=USART1_RX
PC1.Mode=Full_Duplex_Master
PC1.Signal=SPI2_MOSI
PC10.GPIOParameters=GPIO_Label
PC10.GPIO_Label=LED1
PC10.Locked=true
PC10.Signal=GPIO_Output
PC11.GPIOParameters=GPIO_Label
PC11.GPIO_Label=LED2
PC11.Locked=true
PC11.Signal=GPIO_Output
PC12.GPIOParameters=GPIO_Label
PC12.GPIO_Label=LED3
PC12.Locked=true
PC12.Signal=GPIO_Output
PC5.GPIOParameters=GPIO_Label
PC5.GPIO_Label=SENSE3
PC5.Locked=true
PC5.Signal=ADCx_IN15
PC6.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PC6.GPIO_Label=EN_W
PC6.GPIO_PuPd=GPIO_PULLDOWN
PC6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PC6.Locked=true
PC6.Signal=GPIO_Output
PC7.GPIOParameters=GPIO_Label
PC7.GPIO_Label=DRV_FAULT
PC7.Locked=true
PC7.Signal=GPIO_Input
PC8.GPIOParameters=GPIO_Label
PC8.GPIO_Label=DRV_RESET
PC8.Locked=true
PC8.Signal=GPIO_Output
PC9.GPIOParameters=GPIO_Label
PC9.GPIO_Label=DRV_SLEEP
PC9.Locked=true
PC9.Signal=GPIO_Output
PD2.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PD2.GPIO_Label=spi1_cs
PD2.GPIO_PuPd=GPIO_PULLDOWN
PD2.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PD2.Locked=true
PD2.Signal=GPIO_Output
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=true
ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F446RETx
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Src
ProjectManager.NoMain=false
ProjectManager.PreviousToolchain=STM32CubeIDE
ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=cubemx_config.ioc
ProjectManager.ProjectName=cubemx_config
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=Other Toolchains (GPDSC)
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false
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
RCC.AHBFreq_Value=180000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=45000000
RCC.APB1TimFreq_Value=90000000
RCC.APB2CLKDivider=RCC_HCLK_DIV2
RCC.APB2Freq_Value=90000000
RCC.APB2TimFreq_Value=180000000
RCC.CECFreq_Value=32786.88524590164
RCC.CortexFreq_Value=180000000
RCC.FCLKCortexFreq_Value=180000000
RCC.FMPI2C1Freq_Value=45000000
RCC.FamilyName=M
RCC.HCLKFreq_Value=180000000
RCC.HSE_VALUE=8000000
RCC.I2S1Freq_Value=96000000
RCC.I2S2Freq_Value=96000000
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
RCC.MCO2PinFreq_Value=180000000
RCC.PLLCLKFreq_Value=180000000
RCC.PLLI2SPCLKFreq_Value=96000000
RCC.PLLI2SQCLKFreq_Value=96000000
RCC.PLLI2SRCLKFreq_Value=96000000
RCC.PLLI2SoutputFreq_Value=96000000
RCC.PLLM=8
RCC.PLLN=180
RCC.PLLQCLKFreq_Value=180000000
RCC.PLLRCLKFreq_Value=180000000
RCC.PLLSAIPCLKFreq_Value=96000000
RCC.PLLSAIQCLKFreq_Value=96000000
RCC.PLLSAIoutputFreq_Value=96000000
RCC.PWRFreq_Value=180000000
RCC.SAIAFreq_Value=96000000
RCC.SAIBFreq_Value=96000000
RCC.SDIOFreq_Value=180000000
RCC.SPDIFRXFreq_Value=180000000
RCC.SYSCLKFreq_VALUE=180000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.USBFreq_Value=180000000
RCC.VCOI2SInputFreq_Value=1000000
RCC.VCOI2SOutputFreq_Value=192000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=360000000
RCC.VCOSAIInputFreq_Value=1000000
RCC.VCOSAIOutputFreq_Value=192000000
SH.ADCx_IN15.0=ADC2_IN15,IN15
SH.ADCx_IN15.ConfNb=1
SH.ADCx_IN8.0=ADC2_IN8,IN8
SH.ADCx_IN8.ConfNb=1
SH.ADCx_IN9.0=ADC2_IN9,IN9
SH.ADCx_IN9.ConfNb=1
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
SH.S_TIM1_CH2.ConfNb=1
SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
SH.S_TIM1_CH3.ConfNb=1
SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
SPI2.CLKPhase=SPI_PHASE_1EDGE
SPI2.CLKPolarity=SPI_POLARITY_LOW
SPI2.CalculateBaudRate=703.125 KBits/s
SPI2.DataSize=SPI_DATASIZE_16BIT
SPI2.Direction=SPI_DIRECTION_2LINES
SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,CLKPhase,BaudRatePrescaler,CLKPolarity
SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER
TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM1.BreakState=TIM_BREAK_DISABLE
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM1.CounterMode=TIM_COUNTERMODE_CENTERALIGNED1
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,TIM_MasterOutputTrigger,AutoReloadPreload,BreakState,OffStateRunMode,OffStateIDLEMode,CounterMode,Period
TIM1.OffStateIDLEMode=TIM_OSSI_DISABLE
TIM1.OffStateRunMode=TIM_OSSR_DISABLE
TIM1.Period=2399
TIM1.TIM_MasterOutputTrigger=TIM_TRGO_RESET
TIM3.IPParameters=Period,Prescaler
TIM3.Period=99
TIM3.Prescaler=89
USART1.IPParameters=VirtualMode
USART1.VirtualMode=VM_ASYNC
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_SYS_VS_tim2.Mode=TIM2
VP_SYS_VS_tim2.Signal=SYS_VS_tim2
VP_TIM1_VS_ClockSourceINT.Mode=Internal
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
VP_TIM5_VS_ClockSourceINT.Mode=Internal
VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
board=custom
#MicroXplorer Configuration settings - do not modify
ADC2.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_15
ADC2.Channel-5\#ChannelRegularConversion=ADC_CHANNEL_8
ADC2.Channel-6\#ChannelRegularConversion=ADC_CHANNEL_9
ADC2.EOCSelection=ADC_EOC_SEQ_CONV
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
ADC2.InjNumberOfConversion=0
ADC2.NbrOfConversion=3
ADC2.NbrOfConversionFlag=1
ADC2.Rank-1\#ChannelRegularConversion=1
ADC2.Rank-5\#ChannelRegularConversion=2
ADC2.Rank-6\#ChannelRegularConversion=3
ADC2.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC2.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC2.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configTIMER_TASK_PRIORITY
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configENABLE_FPU=1
FREERTOS.configTIMER_TASK_PRIORITY=1
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
Mcu.CPN=STM32F446RET6
Mcu.Family=STM32F4
Mcu.IP0=ADC2
Mcu.IP1=FREERTOS
Mcu.IP2=NVIC
Mcu.IP3=RCC
Mcu.IP4=SPI2
Mcu.IP5=SYS
Mcu.IP6=TIM1
Mcu.IP7=TIM3
Mcu.IP8=TIM5
Mcu.IP9=USART1
Mcu.IPNb=10
Mcu.Name=STM32F446R(C-E)Tx
Mcu.Package=LQFP64
Mcu.Pin0=PC1
Mcu.Pin1=PC5
Mcu.Pin10=PC9
Mcu.Pin11=PA8
Mcu.Pin12=PA9
Mcu.Pin13=PA10
Mcu.Pin14=PA11
Mcu.Pin15=PA12
Mcu.Pin16=PA13
Mcu.Pin17=PA14
Mcu.Pin18=PC10
Mcu.Pin19=PC11
Mcu.Pin2=PB0
Mcu.Pin20=PC12
Mcu.Pin21=PD2
Mcu.Pin22=PB6
Mcu.Pin23=PB7
Mcu.Pin24=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin25=VP_SYS_VS_tim2
Mcu.Pin26=VP_TIM1_VS_ClockSourceINT
Mcu.Pin27=VP_TIM3_VS_ClockSourceINT
Mcu.Pin28=VP_TIM5_VS_ClockSourceINT
Mcu.Pin3=PB1
Mcu.Pin4=PB10
Mcu.Pin5=PB14
Mcu.Pin6=PB15
Mcu.Pin7=PC6
Mcu.Pin8=PC7
Mcu.Pin9=PC8
Mcu.PinsNb=29
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F446RETx
MxCube.Version=6.5.0
MxDb.Version=DB.6.0.50
NVIC.ADC_IRQn=true\:5\:0\:true\:true\:true\:1\:true\:true\:true\:true
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM2_IRQn=true\:15\:0\:true\:false\:true\:false\:false\:true\:true
NVIC.TIM3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.TimeBase=TIM2_IRQn
NVIC.TimeBaseIP=TIM2
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
PA10.Signal=S_TIM1_CH3
PA11.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PA11.GPIO_Label=EN_U
PA11.GPIO_PuPd=GPIO_PULLDOWN
PA11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA11.Locked=true
PA11.Signal=GPIO_Output
PA12.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PA12.GPIO_Label=EN_V
PA12.GPIO_PuPd=GPIO_PULLDOWN
PA12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA12.Locked=true
PA12.Signal=GPIO_Output
PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
PA8.Signal=S_TIM1_CH1
PA9.Signal=S_TIM1_CH2
PB0.GPIOParameters=GPIO_Label
PB0.GPIO_Label=SENSE2
PB0.Locked=true
PB0.Signal=ADCx_IN8
PB1.GPIOParameters=GPIO_Label
PB1.GPIO_Label=SENSE1
PB1.Locked=true
PB1.Signal=ADCx_IN9
PB10.Locked=true
PB10.Mode=Full_Duplex_Master
PB10.Signal=SPI2_SCK
PB14.Locked=true
PB14.Mode=Full_Duplex_Master
PB14.Signal=SPI2_MISO
PB15.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PB15.GPIO_Label=AS5045_CS
PB15.GPIO_PuPd=GPIO_PULLUP
PB15.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PB15.Locked=true
PB15.PinState=GPIO_PIN_SET
PB15.Signal=GPIO_Output
PB6.Mode=Asynchronous
PB6.Signal=USART1_TX
PB7.Mode=Asynchronous
PB7.Signal=USART1_RX
PC1.Mode=Full_Duplex_Master
PC1.Signal=SPI2_MOSI
PC10.GPIOParameters=GPIO_Label
PC10.GPIO_Label=LED1
PC10.Locked=true
PC10.Signal=GPIO_Output
PC11.GPIOParameters=GPIO_Label
PC11.GPIO_Label=LED2
PC11.Locked=true
PC11.Signal=GPIO_Output
PC12.GPIOParameters=GPIO_Label
PC12.GPIO_Label=LED3
PC12.Locked=true
PC12.Signal=GPIO_Output
PC5.GPIOParameters=GPIO_Label
PC5.GPIO_Label=SENSE3
PC5.Locked=true
PC5.Signal=ADCx_IN15
PC6.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PC6.GPIO_Label=EN_W
PC6.GPIO_PuPd=GPIO_PULLDOWN
PC6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PC6.Locked=true
PC6.Signal=GPIO_Output
PC7.GPIOParameters=GPIO_Label
PC7.GPIO_Label=DRV_FAULT
PC7.Locked=true
PC7.Signal=GPIO_Input
PC8.GPIOParameters=GPIO_Label
PC8.GPIO_Label=DRV_RESET
PC8.Locked=true
PC8.Signal=GPIO_Output
PC9.GPIOParameters=GPIO_Label
PC9.GPIO_Label=DRV_SLEEP
PC9.Locked=true
PC9.Signal=GPIO_Output
PD2.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PD2.GPIO_Label=spi1_cs
PD2.GPIO_PuPd=GPIO_PULLDOWN
PD2.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PD2.Locked=true
PD2.Signal=GPIO_Output
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=true
ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F446RETx
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Src
ProjectManager.NoMain=false
ProjectManager.PreviousToolchain=STM32CubeIDE
ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=cubemx_config.ioc
ProjectManager.ProjectName=cubemx_config
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=Other Toolchains (GPDSC)
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false
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
RCC.AHBFreq_Value=180000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=45000000
RCC.APB1TimFreq_Value=90000000
RCC.APB2CLKDivider=RCC_HCLK_DIV2
RCC.APB2Freq_Value=90000000
RCC.APB2TimFreq_Value=180000000
RCC.CECFreq_Value=32786.88524590164
RCC.CortexFreq_Value=180000000
RCC.FCLKCortexFreq_Value=180000000
RCC.FMPI2C1Freq_Value=45000000
RCC.FamilyName=M
RCC.HCLKFreq_Value=180000000
RCC.HSE_VALUE=8000000
RCC.I2S1Freq_Value=96000000
RCC.I2S2Freq_Value=96000000
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
RCC.MCO2PinFreq_Value=180000000
RCC.PLLCLKFreq_Value=180000000
RCC.PLLI2SPCLKFreq_Value=96000000
RCC.PLLI2SQCLKFreq_Value=96000000
RCC.PLLI2SRCLKFreq_Value=96000000
RCC.PLLI2SoutputFreq_Value=96000000
RCC.PLLM=8
RCC.PLLN=180
RCC.PLLQCLKFreq_Value=180000000
RCC.PLLRCLKFreq_Value=180000000
RCC.PLLSAIPCLKFreq_Value=96000000
RCC.PLLSAIQCLKFreq_Value=96000000
RCC.PLLSAIoutputFreq_Value=96000000
RCC.PWRFreq_Value=180000000
RCC.SAIAFreq_Value=96000000
RCC.SAIBFreq_Value=96000000
RCC.SDIOFreq_Value=180000000
RCC.SPDIFRXFreq_Value=180000000
RCC.SYSCLKFreq_VALUE=180000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.USBFreq_Value=180000000
RCC.VCOI2SInputFreq_Value=1000000
RCC.VCOI2SOutputFreq_Value=192000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=360000000
RCC.VCOSAIInputFreq_Value=1000000
RCC.VCOSAIOutputFreq_Value=192000000
SH.ADCx_IN15.0=ADC2_IN15,IN15
SH.ADCx_IN15.ConfNb=1
SH.ADCx_IN8.0=ADC2_IN8,IN8
SH.ADCx_IN8.ConfNb=1
SH.ADCx_IN9.0=ADC2_IN9,IN9
SH.ADCx_IN9.ConfNb=1
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
SH.S_TIM1_CH2.ConfNb=1
SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
SH.S_TIM1_CH3.ConfNb=1
SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
SPI2.CLKPhase=SPI_PHASE_1EDGE
SPI2.CLKPolarity=SPI_POLARITY_LOW
SPI2.CalculateBaudRate=703.125 KBits/s
SPI2.DataSize=SPI_DATASIZE_16BIT
SPI2.Direction=SPI_DIRECTION_2LINES
SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,CLKPhase,BaudRatePrescaler,CLKPolarity
SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER
TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM1.BreakState=TIM_BREAK_DISABLE
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM1.CounterMode=TIM_COUNTERMODE_CENTERALIGNED1
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,TIM_MasterOutputTrigger,AutoReloadPreload,BreakState,OffStateRunMode,OffStateIDLEMode,CounterMode,Period
TIM1.OffStateIDLEMode=TIM_OSSI_DISABLE
TIM1.OffStateRunMode=TIM_OSSR_DISABLE
TIM1.Period=2399
TIM1.TIM_MasterOutputTrigger=TIM_TRGO_RESET
TIM3.IPParameters=Period,Prescaler
TIM3.Period=99
TIM3.Prescaler=89
USART1.IPParameters=VirtualMode
USART1.VirtualMode=VM_ASYNC
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_SYS_VS_tim2.Mode=TIM2
VP_SYS_VS_tim2.Signal=SYS_VS_tim2
VP_TIM1_VS_ClockSourceINT.Mode=Internal
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
VP_TIM5_VS_ClockSourceINT.Mode=Internal
VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
board=custom

356
controller/fw/embed/custom_script.ld
View file

@ -1,178 +1,178 @@
/**
******************************************************************************
* @file LinkerScript.ld
* @author Auto-generated by STM32CubeIDE
* @brief Linker script for STM32F446RCTx Device from STM32F4 series
* 256Kbytes FLASH
* 128Kbytes RAM
*
* Set heap size, stack size and stack location according
* to application requirements.
*
* Set memory bank area and size if external memory is used
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
_Min_Heap_Size = 0x200; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
/* Memories definition */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = LD_MAX_DATA_SIZE
FLASH (rx) : ORIGIN = 0x8000000 + 0x8000, LENGTH = 512K - 0x8000
}
/* Sections */
SECTIONS
{
/* The startup code into "FLASH" Rom type memory */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data into "FLASH" Rom type memory */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
/* Constant data into "FLASH" Rom type memory */
.rodata :
{
. = ALIGN(4);
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
. = ALIGN(4);
} >FLASH
.ARM.extab (READONLY) : {
. = ALIGN(4);
*(.ARM.extab* .gnu.linkonce.armextab.*)
. = ALIGN(4);
} >FLASH
.ARM (READONLY) : {
. = ALIGN(4);
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
. = ALIGN(4);
} >FLASH
.preinit_array (READONLY) :
{
. = ALIGN(4);
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
. = ALIGN(4);
} >FLASH
.init_array (READONLY) :
{
. = ALIGN(4);
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
. = ALIGN(4);
} >FLASH
.fini_array (READONLY) :
{
. = ALIGN(4);
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(SORT(.fini_array.*)))
KEEP (*(.fini_array*))
PROVIDE_HIDDEN (__fini_array_end = .);
. = ALIGN(4);
} >FLASH
/* Used by the startup to initialize data */
_sidata = LOADADDR(.data);
/* Initialized data sections into "RAM" Ram type memory */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
*(.RamFunc) /* .RamFunc sections */
*(.RamFunc*) /* .RamFunc* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM AT> FLASH
/* Uninitialized data section into "RAM" Ram type memory */
. = ALIGN(4);
.bss :
{
/* This is used by the startup in order to initialize the .bss section */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >RAM
/* User_heap_stack section, used to check that there is enough "RAM" Ram type memory left */
._user_heap_stack :
{
. = ALIGN(8);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(8);
} >RAM
/* Remove information from the compiler libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}
/**
******************************************************************************
* @file LinkerScript.ld
* @author Auto-generated by STM32CubeIDE
* @brief Linker script for STM32F446RCTx Device from STM32F4 series
* 256Kbytes FLASH
* 128Kbytes RAM
*
* Set heap size, stack size and stack location according
* to application requirements.
*
* Set memory bank area and size if external memory is used
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
_Min_Heap_Size = 0x200; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
/* Memories definition */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = LD_MAX_DATA_SIZE
FLASH (rx) : ORIGIN = 0x8000000 + 0x8000, LENGTH = 512K - 0x8000
}
/* Sections */
SECTIONS
{
/* The startup code into "FLASH" Rom type memory */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data into "FLASH" Rom type memory */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
/* Constant data into "FLASH" Rom type memory */
.rodata :
{
. = ALIGN(4);
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
. = ALIGN(4);
} >FLASH
.ARM.extab (READONLY) : {
. = ALIGN(4);
*(.ARM.extab* .gnu.linkonce.armextab.*)
. = ALIGN(4);
} >FLASH
.ARM (READONLY) : {
. = ALIGN(4);
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
. = ALIGN(4);
} >FLASH
.preinit_array (READONLY) :
{
. = ALIGN(4);
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
. = ALIGN(4);
} >FLASH
.init_array (READONLY) :
{
. = ALIGN(4);
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
. = ALIGN(4);
} >FLASH
.fini_array (READONLY) :
{
. = ALIGN(4);
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(SORT(.fini_array.*)))
KEEP (*(.fini_array*))
PROVIDE_HIDDEN (__fini_array_end = .);
. = ALIGN(4);
} >FLASH
/* Used by the startup to initialize data */
_sidata = LOADADDR(.data);
/* Initialized data sections into "RAM" Ram type memory */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
*(.RamFunc) /* .RamFunc sections */
*(.RamFunc*) /* .RamFunc* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM AT> FLASH
/* Uninitialized data section into "RAM" Ram type memory */
. = ALIGN(4);
.bss :
{
/* This is used by the startup in order to initialize the .bss section */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >RAM
/* User_heap_stack section, used to check that there is enough "RAM" Ram type memory left */
._user_heap_stack :
{
. = ALIGN(8);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(8);
} >RAM
/* Remove information from the compiler libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}

14
controller/fw/embed/gen_compile_commands.py
View file

@ -1,8 +1,8 @@
import os
Import("env")
# include toolchain paths
env.Replace(COMPILATIONDB_INCLUDE_TOOLCHAIN=True)
# override compilation DB path
import os
Import("env")
# include toolchain paths
env.Replace(COMPILATIONDB_INCLUDE_TOOLCHAIN=True)
# override compilation DB path
env.Replace(COMPILATIONDB_PATH="compile_commands.json")

18
controller/fw/embed/hex_compile.py
View file

@ -1,10 +1,10 @@
Import("env")
# Custom HEX from ELF
env.AddPostAction(
"$BUILD_DIR/${PROGNAME}.elf",
env.VerboseAction(" ".join([
"$OBJCOPY", "-O", "ihex", "-R", ".eeprom",
"$BUILD_DIR/${PROGNAME}.elf", "$BUILD_DIR/${PROGNAME}.hex"
]), "Building $BUILD_DIR/${PROGNAME}.hex")
Import("env")
# Custom HEX from ELF
env.AddPostAction(
"$BUILD_DIR/${PROGNAME}.elf",
env.VerboseAction(" ".join([
"$OBJCOPY", "-O", "ihex", "-R", ".eeprom",
"$BUILD_DIR/${PROGNAME}.elf", "$BUILD_DIR/${PROGNAME}.hex"
]), "Building $BUILD_DIR/${PROGNAME}.hex")
)

62
controller/fw/embed/include/config.h
View file

@ -1,31 +1,31 @@
#pragma once
#include "Arduino.h"
#include <AS5045.h>
#include <DRV8313.h>
#include <SimpleFOC.h>
#include <STM32_CAN.h>
#include "flash.h"
extern STM32_CAN Can;
extern SPIClass spi;
extern MagneticSensorAS5045 encoder;
extern BLDCMotor motor;
extern DRV8313Driver driver;
extern LowsideCurrentSense current_sense;
extern Commander command;
struct MotorControlInputs {
float target_angle = 0.0;
float target_velocity = 0.0;
bool motor_enabled = false;
bool foc_state = false;
};
extern MotorControlInputs motor_control_inputs;
void doMotor(char *cmd);
void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
DRV8313Driver *driver, LowsideCurrentSense *current_sense,
FLASH_RECORD* pid_data);
void foc_step(BLDCMotor *motor);
#pragma once
#include "Arduino.h"
#include <AS5045.h>
#include <DRV8313.h>
#include <SimpleFOC.h>
#include <STM32_CAN.h>
#include "flash.h"
extern STM32_CAN Can;
extern SPIClass spi;
extern MagneticSensorAS5045 encoder;
extern BLDCMotor motor;
extern DRV8313Driver driver;
extern LowsideCurrentSense current_sense;
extern Commander command;
struct MotorControlInputs {
float target_angle = 0.0;
float target_velocity = 0.0;
bool motor_enabled = false;
bool foc_state = false;
};
extern MotorControlInputs motor_control_inputs;
void doMotor(char *cmd);
void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
DRV8313Driver *driver, LowsideCurrentSense *current_sense,
FLASH_RECORD* pid_data);
void foc_step(BLDCMotor *motor);

173
controller/fw/embed/include/flash.h
View file

@ -1,86 +1,87 @@
#ifndef FLASH_H_
#define FLASH_H_
#include "stm32f446xx.h"
#include <stdio.h>
#include <stdlib.h>
/* for addr in FLASH */
/* no padding for this struct, beacuse storing 8 bytes*/
typedef struct{
uint8_t data_id; // data_id = id register of can
uint8_t data_type;
uint16_t crc;
uint32_t value;
// uint32_t write_ptr_now;
}FLASH_RECORD;
enum {
addr_id = 0,
pid_p = 1,
pid_i,
pid_d,
firmw,
foc_id,
angl,
vel
};
/* for saved in FLASH float data*/
union{
uint32_t i;
float f;
}conv_float_to_int;
#define FLASH_RECORD_SIZE sizeof(FLASH_RECORD) //size flash struct
#define PARAM_COUNT 5 // count data in flash
#define FIRMWARE_FLAG (uint32_t)0xDEADBEEF
// Flash sectors for STM32F407
#define SECTOR_2 0x08008000 // 16KB
#define SECTOR_3 0x0800C000 // 16KB
#define SECTOR_4 0x08010000 // 64KB
#define SECTOR_5 0x08020000 // 128KB
#define SECTOR_6 0x08040000 // 128KB
#define SECTOR_6_END (SECTOR_6 + 128 * 1024) // sector 6 end
#define SECTOR_7 0x08060000 // 128KB
#define FLAG_BOOT (0x08040000 + 4)
// Flash keys for unlocking flash memory
#define BYTE32 0
#define BYTE8 1
#define UPDATE_FLAG 0xDEADBEEF // Unique 32bit value
//FLASH SET ONE PROGRAMM WORD
#define FLASH_8BYTE FLASH->CR &= ~FLASH_CR_PSIZE & ~FLASH_CR_PSIZE_1
#define FLASH_32BYTE \
FLASH->CR = (FLASH->CR & ~FLASH_CR_PSIZE) | (0x2 << FLASH_CR_PSIZE_Pos)
// Flash command bits
#define FLASH_LOCK FLASH->CR |= FLASH_CR_LOCK
#define FLASH_UNLOCK FLASH->KEYR = FLASH_KEY1; FLASH->KEYR = FLASH_KEY2
// Flash status flags
#define FLASH_BUSY (FLASH->SR & FLASH_SR_BSY)
#define FLASH_ERROR (FLASH->SR & (FLASH_SR_WRPERR | FLASH_SR_PGAERR | FLASH_SR_PGPERR | FLASH_SR_PGSERR))
static uint32_t write_ptr = SECTOR_6;
//for bootloader
typedef void(*pFunction)(void);
// Function prototypes
void flash_unlock(void);
void flash_lock(void);
void erase_sector(uint8_t sector);
void flash_program_word(uint32_t address, uint32_t data,uint32_t byte_len);
uint8_t flash_read_word(uint32_t address);
FLASH_RECORD* load_params();
void compact_page();
void flash_read(uint32_t addr,FLASH_RECORD* ptr);
uint16_t validate_crc16(uint8_t *data,uint32_t length);
void flash_write(uint32_t addr, FLASH_RECORD* record);
bool validaate_crc(FLASH_RECORD* crc);
void write_param(uint8_t param_id,uint32_t val);
#endif /* FLASH_H_ */
#ifndef FLASH_H_
#define FLASH_H_
#include "stm32f446xx.h"
#include <stdio.h>
#include <stdlib.h>
/* for addr in FLASH */
/* no padding for this struct, beacuse storing 8 bytes*/
typedef struct{
uint8_t data_id; // data_id = id register of can
uint8_t data_type;
uint16_t crc;
uint32_t value;
// uint32_t write_ptr_now;
}FLASH_RECORD;
enum {
addr_id = 0,
pid_p = 1,
pid_i,
pid_d,
firmw,
foc_id,
angl,
vel,
torq
};
/* for saved in FLASH float data*/
union{
uint32_t i;
float f;
}conv_float_to_int;
#define FLASH_RECORD_SIZE sizeof(FLASH_RECORD) //size flash struct
#define PARAM_COUNT 5 // count data in flash
#define FIRMWARE_FLAG (uint32_t)0xDEADBEEF
// Flash sectors for STM32F407
#define SECTOR_2 0x08008000 // 16KB
#define SECTOR_3 0x0800C000 // 16KB
#define SECTOR_4 0x08010000 // 64KB
#define SECTOR_5 0x08020000 // 128KB
#define SECTOR_6 0x08040000 // 128KB
#define SECTOR_6_END (SECTOR_6 + 128 * 1024) // sector 6 end
#define SECTOR_7 0x08060000 // 128KB
#define FLAG_BOOT (0x08040000 + 4)
// Flash keys for unlocking flash memory
#define BYTE32 0
#define BYTE8 1
#define UPDATE_FLAG 0xDEADBEEF // Unique 32bit value
//FLASH SET ONE PROGRAMM WORD
#define FLASH_8BYTE FLASH->CR &= ~FLASH_CR_PSIZE & ~FLASH_CR_PSIZE_1
#define FLASH_32BYTE \
FLASH->CR = (FLASH->CR & ~FLASH_CR_PSIZE) | (0x2 << FLASH_CR_PSIZE_Pos)
// Flash command bits
#define FLASH_LOCK FLASH->CR |= FLASH_CR_LOCK
#define FLASH_UNLOCK FLASH->KEYR = FLASH_KEY1; FLASH->KEYR = FLASH_KEY2
// Flash status flags
#define FLASH_BUSY (FLASH->SR & FLASH_SR_BSY)
#define FLASH_ERROR (FLASH->SR & (FLASH_SR_WRPERR | FLASH_SR_PGAERR | FLASH_SR_PGPERR | FLASH_SR_PGSERR))
static uint32_t write_ptr = SECTOR_6;
//for bootloader
typedef void(*pFunction)(void);
// Function prototypes
void flash_unlock(void);
void flash_lock(void);
void erase_sector(uint8_t sector);
void flash_program_word(uint32_t address, uint32_t data,uint32_t byte_len);
uint8_t flash_read_word(uint32_t address);
FLASH_RECORD* load_params();
void compact_page();
void flash_read(uint32_t addr,FLASH_RECORD* ptr);
uint16_t validate_crc16(uint8_t *data,uint32_t length);
void flash_write(uint32_t addr, FLASH_RECORD* record);
bool validaate_crc(FLASH_RECORD* crc);
void write_param(uint8_t param_id,uint32_t val);
#endif /* FLASH_H_ */

76
controller/fw/embed/include/hal_conf_extra.h
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@ -1,38 +1,38 @@
#pragma once
#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
#define AS5045_MISO PB14
#define AS5045_MOSI PC1
#define AS5045_SCLK PB10
#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>
#pragma once
#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
#define AS5045_MISO PB14
#define AS5045_MOSI PC1
#define AS5045_SCLK PB10
#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>

63
controller/fw/embed/include/process_can.h
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@ -1,27 +1,36 @@
#pragma once
#include "config.h"
#include "STM32_CAN.h"
#include "flash.h"
#include "reg_cah.h"
extern FLASH_RECORD *flash_rec;
extern volatile uint16_t msg_id;
extern volatile uint16_t id_x;
extern volatile uint8_t msg_ch;
extern volatile uint8_t crc_h;
extern volatile uint8_t crc_l;
void send_velocity();
void send_angle();
void send_motor_enabled();
void send_motor_enabled();
void send_id();
void firmware_update();
void send_pid_angle(uint8_t param_pid);
// void send_motor_torque();
void send_pid(uint8_t param_pid);
void setup_id(uint8_t my_id);
void setup_angle(float target_angle);
void setup_pid_angle(uint8_t param_pid, float data);
void listen_can(const CAN_message_t &msg);
#pragma once
#include "config.h"
#include "STM32_CAN.h"
#include "flash.h"
#include "reg_cah.h"
#define CAN_TIMEOUT 5
#define CAN_SILENCE_TIMEOUT 5
#define MAX_CAN_READS 2
extern FLASH_RECORD *flash_rec;
extern volatile uint16_t msg_id;
extern volatile uint16_t id_x;
extern volatile uint8_t msg_ch;
extern volatile uint8_t crc_h;
extern volatile uint8_t crc_l;
extern volatile bool send_blocked;
static volatile bool need_send_angle = false;
static volatile bool need_send_velocity = false;
void send_velocity();
void send_angle();
void send_motor_enabled();
void send_motor_enabled();
void send_id();
void firmware_update();
void send_pid_angle(uint8_t param_pid);
void send_with_confirmation(void (*send_func)(void));
// void send_torque();
void send_pid(uint8_t param_pid);
void setup_id(uint8_t my_id);
void setup_angle(float target_angle);
void setup_velocity(float target_velocity);
void process_can_messages();
void listen_can(const CAN_message_t &msg);

103
controller/fw/embed/include/reg_cah.h
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@ -1,48 +1,55 @@
#ifndef REG_CAH_H_
#define REG_CAH_H_
#define APP_ADDR 0x0800400 // 16KB - Application
#define ADDR_VAR 0x8040000
#define REG_READ 0x07
#define REG_WRITE 0x08
/* Startup ID device */
#define START_ID 0x00
/* CAN REGISTER ID */
#define REG_ID 0x01
#define REG_BAUDRATE 0x02
#define REG_MOTOR_POSPID_Kp 0x30
#define REG_MOTOR_POSPID_Ki 0x31
#define REG_MOTOR_POSPID_Kd 0x32
#define REG_MOTOR_VELPID_Kp 0x40
#define REG_MOTOR_VELPID_Ki 0x41
#define REG_MOTOR_VELPID_Kd 0x42
#define REG_MOTOR_IMPPID_Kp 0x50
#define REG_MOTOR_IMPPID_Kd 0x51
#define REG_RESET 0x88
#define REG_LED_BLINK 0x8B
#define FOC_STATE 0x60
#define MOTOR_VELOCITY 0x70
#define MOTOR_ENABLED 0x71
#define MOTOR_ANGLE 0x72
#define MOTOR_TORQUE 0x73
#define FIRMWARE_UPDATE 0x55
//For send
#define CAN_MSG_MAX_LEN 7
#define CRC_SIZE 2
#define ID_SIZE sizeof(uint8_t)
#endif // REG_CAH_H_
#pragma once
enum{
error_foc = 0,
error_canRX,
error_canTX
};
#define APP_ADDR 0x0800400 // 16KB - Application
#define ADDR_VAR 0x8040000
#define REG_READ 0x07
#define REG_WRITE 0x08
/* Startup ID device */
#define START_ID 0x00
/* CAN REGISTER ID */
#define REG_ID 0x01
#define REG_BAUDRATE 0x02
#define DATA_TYPE_ANGLE 0x03
#define DATA_TYPE_VELOCITY 0x04
#define DATA_TYPE_TORQUE 0x05
#define REG_MOTOR_POSPID_Kp 0x30
#define REG_MOTOR_POSPID_Ki 0x31
#define REG_MOTOR_POSPID_Kd 0x32
#define REG_MOTOR_VELPID_Kp 0x40
#define REG_MOTOR_VELPID_Ki 0x41
#define REG_MOTOR_VELPID_Kd 0x42
#define REG_MOTOR_IMPPID_Kp 0x50
#define REG_MOTOR_IMPPID_Kd 0x51
#define REG_RESET 0x88
#define REG_LED_BLINK 0x8B
#define FOC_STATE 0x60
#define MOTOR_VELOCITY 0x70
#define MOTOR_ENABLED 0x71
#define MOTOR_ANGLE 0x72
#define MOTOR_TORQUE 0x73
#define FIRMWARE_UPDATE 0x55
//For send
#define CAN_MSG_MAX_LEN 7
#define CRC_SIZE 2
#define ID_SIZE sizeof(uint8_t)

88
controller/fw/embed/lib/AS5045/AS5045.cpp
View file

@ -1,44 +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.
}
#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.
}

64
controller/fw/embed/lib/AS5045/AS5045.h
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@ -1,32 +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;
};
#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;
};

18
controller/fw/embed/lib/AS5045/library.properties
View file

@ -1,10 +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=*
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

84
controller/fw/embed/lib/DRV8313/DRV8313.cpp
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@ -1,42 +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();
}
#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();
}

40
controller/fw/embed/lib/DRV8313/DRV8313.h
View file

@ -1,20 +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;
};
#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;
};

18
controller/fw/embed/lib/DRV8313/library.properties
View file

@ -1,10 +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=*
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

92
controller/fw/embed/lib/README
View file

@ -1,46 +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
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

48
controller/fw/embed/platformio.ini
View file

@ -1,24 +1,24 @@
[env:robotroller_reborn]
platform = ststm32
board = genericSTM32F446RE
framework = arduino
upload_protocol = stlink
debug_tool = stlink
monitor_speed = 19200
monitor_parity = N
board_upload.offset_address = 0x08008000
board_build.ldscript = ${PROJECT_DIR}/custom_script.ld
build_flags =
-D STM32F446xx
-D HAL_CAN_MODULE_ENABLED
-D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
lib_deps =
askuric/Simple FOC@^2.3.4
pazi88/STM32_CAN@^1.1.2
extra_scripts =
pre:gen_compile_commands.py
post:hex_compile.py
[env:robotroller_reborn]
platform = ststm32
board = genericSTM32F446RE
framework = arduino
upload_protocol = stlink
debug_tool = stlink
monitor_speed = 19200
monitor_parity = N
board_upload.offset_address = 0x08008000
board_build.ldscript = ${PROJECT_DIR}/custom_script.ld
build_flags =
-D STM32F446xx
-D HAL_CAN_MODULE_ENABLED
-D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
lib_deps =
askuric/Simple FOC@^2.3.4
pazi88/STM32_CAN@^1.1.2
extra_scripts =
pre:gen_compile_commands.py
post:hex_compile.py

150
controller/fw/embed/src/config.cpp
View file

@ -1,75 +1,75 @@
#include "config.h"
void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
DRV8313Driver *driver, LowsideCurrentSense *current_sense,
FLASH_RECORD* pid_data) {
encoder->init(&spi);
/* convert data from flash int value to float*/
conv_float_to_int.i = pid_data[pid_p].value;
float p = conv_float_to_int.f;
conv_float_to_int.i = pid_data[pid_i].value;
float i = conv_float_to_int.f;
conv_float_to_int.i = pid_data[pid_d].value;
float d = conv_float_to_int.f;
// Driver configuration
driver->pwm_frequency = 20000;
driver->voltage_power_supply = 24;
driver->voltage_limit = 24;
driver->init();
// Current sense initialization
current_sense->linkDriver(driver);
current_sense->init();
// Motor configuration
motor->linkSensor(encoder);
motor->linkDriver(driver);
motor->linkCurrentSense(current_sense);
motor->controller = MotionControlType::angle;
motor->torque_controller = TorqueControlType::voltage;
motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
// PID Configuration
motor->PID_velocity.P = 0.5f;
motor->PID_velocity.I = 2.0f;
motor->PID_velocity.D = 0.0f;
motor->LPF_velocity.Tf = 0.01f;
motor->P_angle.P = p;
motor->P_angle.I = i;
motor->P_angle.D = d;
motor->LPF_angle.Tf = 0.02f;
// Motor limits
motor->velocity_limit = 40; // Speed limit in rad/s (382 rpm)
motor->voltage_limit = 24;
motor->current_limit = 0.5;
motor->sensor_direction = Direction::CCW;
motor->init();
motor->initFOC();
}
void foc_step(BLDCMotor *motor) {
if (motor_control_inputs.target_velocity != 0 ||
motor->controller == MotionControlType::velocity) {
if (motor->controller != MotionControlType::velocity) {
motor->controller = MotionControlType::velocity;
}
motor->target = motor_control_inputs.target_velocity;
} else {
if (motor->controller != MotionControlType::angle) {
motor->controller = MotionControlType::angle;
}
motor->target = motor_control_inputs.target_angle;
}
motor->loopFOC();
motor->move();
}
#include "config.h"
void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
DRV8313Driver *driver, LowsideCurrentSense *current_sense,
FLASH_RECORD* pid_data) {
encoder->init(&spi);
/* convert data from flash int value to float*/
conv_float_to_int.i = pid_data[pid_p].value;
float p = conv_float_to_int.f;
conv_float_to_int.i = pid_data[pid_i].value;
float i = conv_float_to_int.f;
conv_float_to_int.i = pid_data[pid_d].value;
float d = conv_float_to_int.f;
// Driver configuration
driver->pwm_frequency = 20000;
driver->voltage_power_supply = 24;
driver->voltage_limit = 24;
driver->init();
// Current sense initialization
current_sense->linkDriver(driver);
current_sense->init();
// Motor configuration
motor->linkSensor(encoder);
motor->linkDriver(driver);
motor->linkCurrentSense(current_sense);
motor->controller = MotionControlType::angle;
motor->torque_controller = TorqueControlType::voltage;
motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
// PID Configuration
motor->PID_velocity.P = 0.5f;
motor->PID_velocity.I = 2.0f;
motor->PID_velocity.D = 0.0f;
motor->LPF_velocity.Tf = 0.01f;
motor->P_angle.P = p;
motor->P_angle.I = i;
motor->P_angle.D = d;
motor->LPF_angle.Tf = 0.02f;
// Motor limits
motor->velocity_limit = 40; // Speed limit in rad/s (382 rpm)
motor->voltage_limit = 24;
motor->current_limit = 0.5;
motor->sensor_direction = Direction::CCW;
motor->init();
motor->initFOC();
}
void foc_step(BLDCMotor *motor) {
if (motor_control_inputs.target_velocity != 0 ||
motor->controller == MotionControlType::velocity) {
if (motor->controller != MotionControlType::velocity) {
motor->controller = MotionControlType::velocity;
}
motor->target = motor_control_inputs.target_velocity;
} else {
if (motor->controller != MotionControlType::angle) {
motor->controller = MotionControlType::angle;
}
motor->target = motor_control_inputs.target_angle;
}
motor->loopFOC();
motor->move();
}

502
controller/fw/embed/src/flash.cpp
View file

@ -1,251 +1,251 @@
#include "flash.h"
#include <stdbool.h>
#include "hal_conf_extra.h"
void flash_unlock(){
// Check if flash is locked
if(!(FLASH->CR & FLASH_CR_LOCK)) {
return; // Already unlocked
}
// Write flash key sequence to unlock
FLASH->KEYR = 0x45670123; // First key
FLASH->KEYR = 0xCDEF89AB; // Second key
}
void flash_lock() {
if(FLASH->CR & FLASH_CR_LOCK) {
return; // Already locked
}
FLASH->CR |= FLASH_CR_LOCK; // Lock flash memory
}
void erase_sector(uint8_t sector){
// Wait if flash is busy
while(FLASH_BUSY);
// Check if flash is locked and unlock if needed
if(FLASH->CR & FLASH_CR_LOCK) {
flash_unlock();
}
// Set sector erase bit and sector number
FLASH->CR |= FLASH_CR_SER;
FLASH->CR &= ~FLASH_CR_SNB;
FLASH->CR |= (sector << FLASH_CR_SNB_Pos) & FLASH_CR_SNB_Msk;
// Start erase
FLASH->CR |= FLASH_CR_STRT;
// Wait for erase to complete
while(FLASH_BUSY);
// Clear sector erase bit
FLASH->CR &= ~FLASH_CR_SER;
}
void flash_program_word(uint32_t address,uint32_t data,uint32_t byte_len){
// Wait if flash is busy
while(FLASH_BUSY);
// Check if flash is locked and unlock if needed
if(FLASH->CR & FLASH_CR_LOCK) {
flash_unlock();
}
// Set program bit 32bit programm size and Write data to address
if(byte_len == 1) {
FLASH_8BYTE;
FLASH->CR |= FLASH_CR_PG;
*(volatile uint8_t*)address = (uint8_t)data;
} else {
FLASH_32BYTE;
FLASH->CR |= FLASH_CR_PG;
*(volatile uint32_t*)address = data;
}
// Wait for programming to complete
while(FLASH_BUSY);
// Clear program bit
FLASH->CR &= ~FLASH_CR_PG;
}
void flash_write(uint32_t addr, FLASH_RECORD* record){
uint32_t* data = (uint32_t*)record;
uint32_t size = FLASH_RECORD_SIZE / 4; //count words in struct
// Wait if flash is busy
while(FLASH_BUSY);
// Check if flash is locked and unlock if needed
if(FLASH->CR & FLASH_CR_LOCK) {
flash_unlock();
}
// Set program bit and write data to flash
FLASH_32BYTE;
FLASH->CR |= FLASH_CR_PG;
for(int i = 0;i < size;i++){
*(volatile uint32_t*)(addr + (i * 4)) = data[i];
}
// Clear program bit
FLASH->CR &= ~FLASH_CR_PG;
write_ptr = addr + (size * 4); //increase variable storing addr
flash_lock();
}
uint8_t flash_read_word(uint32_t address){
// Check if address is valid
if(address < FLASH_BASE || address > FLASH_END) {
return 0;
}
// Read byte from flash memory
return *((volatile uint8_t*)address);
}
// Wait if flash
// bool validata_crc(FLASH_RECORD* crc){
// return crc->crc == 0x6933? true : false;
// }
uint16_t validate_crc16(uint8_t *data, uint32_t length) {
uint16_t crc = 0xFFFF; // start value for CRC MODBUS
while (length--) {
crc ^= *data++; // XOR
for (uint8_t i = 0; i < 8; i++) {
if (crc & 0x0001) {
crc = (crc >> 1) ^ 0xA001; // polynome 0x8005 (reverse)
} else {
crc >>= 1;
}
}
}
return crc;
}
uint16_t calc_crc_struct(FLASH_RECORD* res){
uint8_t arr_res[FLASH_RECORD_SIZE - 2];
uint16_t crc_res;
/* sorting data without CRC */
arr_res[0] = res->data_id;
arr_res[1] = res->data_type;
/* from 32 to 8 bit */
for(int i = 0;i < 4;i++)
arr_res[i + 2] = (uint8_t)(res->value >> i * 8);
crc_res = validate_crc16(arr_res,FLASH_RECORD_SIZE - 2);
return crc_res;
}
void disable_flash_protection() {
HAL_FLASH_Unlock();
__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR);
HAL_FLASH_Lock();
}
/* read struct from FLASH */
void flash_read(uint32_t addr,FLASH_RECORD* ptr){
disable_flash_protection();
uint8_t* flash_ptr = (uint8_t*)addr;
uint8_t* dest = (uint8_t*)ptr;
for(int i = 0;i < FLASH_RECORD_SIZE;i++)
dest[i] = flash_ptr[i];
}
void compact_page(){
FLASH_RECORD latest[PARAM_COUNT] = {0};
for(int i = (uint32_t)SECTOR_6;i < (uint32_t)SECTOR_7;i += FLASH_RECORD_SIZE) {
FLASH_RECORD rec;
flash_read(i,&rec);
uint16_t calculated_crc = calc_crc_struct(&rec);
if (calculated_crc == rec.crc && rec.data_id < PARAM_COUNT) {
// if the crc does not match, we check further
latest[rec.data_id] = rec;
}
else
// if
continue;
}
erase_sector(6);
write_ptr = SECTOR_6; // Сброс на начало
for (int i = 0; i < PARAM_COUNT; i++) {
if (latest[i].data_id != 0xFF) {
// alignment
if (write_ptr % 4 != 0) {
write_ptr += (4 - (write_ptr % 4));
}
flash_write(write_ptr, &latest[i]);
}
}
}
void write_param(uint8_t param_id, uint32_t val) {
FLASH_RECORD param_flash;
// __disable_irq(); // Interrupt off
param_flash.data_id = param_id;
param_flash.value = val;
param_flash.data_type = sizeof(uint8_t);
param_flash.crc = calc_crc_struct(&param_flash);
// check alignment
if (write_ptr % 8 != 0) {
write_ptr += (8 - (write_ptr % 8));
}
// check buffer overflow
if (write_ptr + FLASH_RECORD_SIZE >= SECTOR_6_END) {
compact_page(); // after compact_page update
// alignment
if (write_ptr % 8 != 0) {
write_ptr += (8 - (write_ptr % 8));
}
}
flash_write(write_ptr, &param_flash); //inside the function, the write_ptr pointer is automatically incremented by the size of the structure
// __enable_irq(); // Interrupt on
}
FLASH_RECORD* load_params(){
__disable_irq();
static FLASH_RECORD latest[PARAM_COUNT] = {0};
FLASH_RECORD res;
for(uint32_t addr = SECTOR_6;addr < SECTOR_6_END;addr +=FLASH_RECORD_SIZE) {
flash_read(addr,&res);
uint16_t calculated_crc = calc_crc_struct(&res);
if (calculated_crc != res.crc || res.data_id >= PARAM_COUNT) continue;
else{
latest[res.data_id] = res;
write_ptr = addr + FLASH_RECORD_SIZE;
}
}
__enable_irq();
return latest;
}
#include "flash.h"
#include <stdbool.h>
#include "hal_conf_extra.h"
void flash_unlock(){
// Check if flash is locked
if(!(FLASH->CR & FLASH_CR_LOCK)) {
return; // Already unlocked
}
// Write flash key sequence to unlock
FLASH->KEYR = 0x45670123; // First key
FLASH->KEYR = 0xCDEF89AB; // Second key
}
void flash_lock() {
if(FLASH->CR & FLASH_CR_LOCK) {
return; // Already locked
}
FLASH->CR |= FLASH_CR_LOCK; // Lock flash memory
}
void erase_sector(uint8_t sector){
// Wait if flash is busy
while(FLASH_BUSY);
// Check if flash is locked and unlock if needed
if(FLASH->CR & FLASH_CR_LOCK) {
flash_unlock();
}
// Set sector erase bit and sector number
FLASH->CR |= FLASH_CR_SER;
FLASH->CR &= ~FLASH_CR_SNB;
FLASH->CR |= (sector << FLASH_CR_SNB_Pos) & FLASH_CR_SNB_Msk;
// Start erase
FLASH->CR |= FLASH_CR_STRT;
// Wait for erase to complete
while(FLASH_BUSY);
// Clear sector erase bit
FLASH->CR &= ~FLASH_CR_SER;
}
void flash_program_word(uint32_t address,uint32_t data,uint32_t byte_len){
// Wait if flash is busy
while(FLASH_BUSY);
// Check if flash is locked and unlock if needed
if(FLASH->CR & FLASH_CR_LOCK) {
flash_unlock();
}
// Set program bit 32bit programm size and Write data to address
if(byte_len == 1) {
FLASH_8BYTE;
FLASH->CR |= FLASH_CR_PG;
*(volatile uint8_t*)address = (uint8_t)data;
} else {
FLASH_32BYTE;
FLASH->CR |= FLASH_CR_PG;
*(volatile uint32_t*)address = data;
}
// Wait for programming to complete
while(FLASH_BUSY);
// Clear program bit
FLASH->CR &= ~FLASH_CR_PG;
}
void flash_write(uint32_t addr, FLASH_RECORD* record){
uint32_t* data = (uint32_t*)record;
uint32_t size = FLASH_RECORD_SIZE / 4; //count words in struct
// Wait if flash is busy
while(FLASH_BUSY);
// Check if flash is locked and unlock if needed
if(FLASH->CR & FLASH_CR_LOCK) {
flash_unlock();
}
// Set program bit and write data to flash
FLASH_32BYTE;
FLASH->CR |= FLASH_CR_PG;
for(int i = 0;i < size;i++){
*(volatile uint32_t*)(addr + (i * 4)) = data[i];
}
// Clear program bit
FLASH->CR &= ~FLASH_CR_PG;
write_ptr = addr + (size * 4); //increase variable storing addr
flash_lock();
}
uint8_t flash_read_word(uint32_t address){
// Check if address is valid
if(address < FLASH_BASE || address > FLASH_END) {
return 0;
}
// Read byte from flash memory
return *((volatile uint8_t*)address);
}
// Wait if flash
// bool validata_crc(FLASH_RECORD* crc){
// return crc->crc == 0x6933? true : false;
// }
uint16_t validate_crc16(uint8_t *data, uint32_t length) {
uint16_t crc = 0xFFFF; // start value for CRC MODBUS
while (length--) {
crc ^= *data++; // XOR
for (uint8_t i = 0; i < 8; i++) {
if (crc & 0x0001) {
crc = (crc >> 1) ^ 0xA001; // polynome 0x8005 (reverse)
} else {
crc >>= 1;
}
}
}
return crc;
}
uint16_t calc_crc_struct(FLASH_RECORD* res){
uint8_t arr_res[FLASH_RECORD_SIZE - 2];
uint16_t crc_res;
/* sorting data without CRC */
arr_res[0] = res->data_id;
arr_res[1] = res->data_type;
/* from 32 to 8 bit */
for(int i = 0;i < 4;i++)
arr_res[i + 2] = (uint8_t)(res->value >> i * 8);
crc_res = validate_crc16(arr_res,FLASH_RECORD_SIZE - 2);
return crc_res;
}
void disable_flash_protection() {
HAL_FLASH_Unlock();
__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR);
HAL_FLASH_Lock();
}
/* read struct from FLASH */
void flash_read(uint32_t addr,FLASH_RECORD* ptr){
disable_flash_protection();
uint8_t* flash_ptr = (uint8_t*)addr;
uint8_t* dest = (uint8_t*)ptr;
for(int i = 0;i < FLASH_RECORD_SIZE;i++)
dest[i] = flash_ptr[i];
}
void compact_page(){
FLASH_RECORD latest[PARAM_COUNT] = {0};
for(int i = (uint32_t)SECTOR_6;i < (uint32_t)SECTOR_7;i += FLASH_RECORD_SIZE) {
FLASH_RECORD rec;
flash_read(i,&rec);
uint16_t calculated_crc = calc_crc_struct(&rec);
if (calculated_crc == rec.crc && rec.data_id < PARAM_COUNT) {
// if the crc does not match, we check further
latest[rec.data_id] = rec;
}
else
// if
continue;
}
erase_sector(6);
write_ptr = SECTOR_6; // Сброс на начало
for (int i = 0; i < PARAM_COUNT; i++) {
if (latest[i].data_id != 0xFF) {
// alignment
if (write_ptr % 4 != 0) {
write_ptr += (4 - (write_ptr % 4));
}
flash_write(write_ptr, &latest[i]);
}
}
}
void write_param(uint8_t param_id, uint32_t val) {
FLASH_RECORD param_flash;
// __disable_irq(); // Interrupt off
param_flash.data_id = param_id;
param_flash.value = val;
param_flash.data_type = sizeof(uint8_t);
param_flash.crc = calc_crc_struct(&param_flash);
// check alignment
if (write_ptr % 8 != 0) {
write_ptr += (8 - (write_ptr % 8));
}
// check buffer overflow
if (write_ptr + FLASH_RECORD_SIZE >= SECTOR_6_END) {
compact_page(); // after compact_page update
// alignment
if (write_ptr % 8 != 0) {
write_ptr += (8 - (write_ptr % 8));
}
}
flash_write(write_ptr, &param_flash); //inside the function, the write_ptr pointer is automatically incremented by the size of the structure
// __enable_irq(); // Interrupt on
}
FLASH_RECORD* load_params(){
__disable_irq();
static FLASH_RECORD latest[PARAM_COUNT] = {0};
FLASH_RECORD res;
for(uint32_t addr = SECTOR_6;addr < SECTOR_6_END;addr +=FLASH_RECORD_SIZE) {
flash_read(addr,&res);
uint16_t calculated_crc = calc_crc_struct(&res);
if (calculated_crc != res.crc || res.data_id >= PARAM_COUNT) continue;
else{
latest[res.data_id] = res;
write_ptr = addr + FLASH_RECORD_SIZE;
}
}
__enable_irq();
return latest;
}

234
controller/fw/embed/src/main.cpp
View file

@ -1,115 +1,119 @@
#include "Arduino.h"
#include "stm32f446xx.h"
#include <SimpleFOC.h>
#include <STM32_CAN.h>
#include <AS5045.h>
#include <DRV8313.h>
#include <cstring>
#include <iostream>
#include <iterator>
#include "common/base_classes/FOCMotor.h"
#include "hal_conf_extra.h"
#include "wiring_analog.h"
#include "wiring_constants.h"
// clang-format on
#include "reg_cah.h"
#include "flash.h"
#include "config.h"
#include "process_can.h"
void SysTick_Handler(void) {
HAL_IncTick();
}
STM32_CAN Can(CAN2, DEF);
/* for FLASH */
uint32_t flash_flag;
uint8_t flag_can = 0;
uint32_t flash_error;
FLASH_EraseInitTypeDef pEraseInit;
uint32_t SectorError;
/* bool for test CAN */
volatile bool CAN_GET = false;
volatile float kt = 0.1; // Torque calculation constant
FLASH_RECORD* flash_rec;
SPIClass spi;
MagneticSensorAS5045 encoder(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(0.01, 10.0, CURRENT_SENSOR_1,
CURRENT_SENSOR_2, CURRENT_SENSOR_3);
// Commander command(Serial);
MotorControlInputs motor_control_inputs;
volatile uint16_t msg_id;
volatile uint16_t id_x;
volatile uint8_t msg_ch;
volatile uint8_t crc_h;
volatile uint8_t crc_l;
void setup(){
SCB->VTOR = (volatile uint32_t)0x08008004;
Serial.setRx(HARDWARE_SERIAL_RX_PIN);
Serial.setTx(HARDWARE_SERIAL_TX_PIN);
Serial.begin(115200);
pinMode(PC11, OUTPUT);
pinMode(PC10,OUTPUT);
GPIOC->ODR &= ~GPIO_ODR_OD10;
// Can.enableMBInterrupts();
Can.begin();
Can.setBaudRate(1000000);
// Настройка прерываний CAN
CAN2->IER |= CAN_IER_FMPIE0;
flash_rec = load_params(); //for update write_ptr
if(flash_rec[firmw].value == FIRMWARE_FLAG) NVIC_SystemReset(); //if in flash go to the bootloader
// Initialize FOC system
setup_foc(&encoder, &motor, &driver, &current_sense,flash_rec);
CAN2->IER |= CAN_IER_FMPIE0 | // Сообщение в FIFO0
CAN_IER_FFIE0 | // FIFO0 full
CAN_IER_FOVIE0; // FIFO0 overflow
// Default motor configuration
GPIOC->ODR |= GPIO_ODR_OD11; //set LED
motor.torque_controller = TorqueControlType::foc_current;
motor.controller = MotionControlType::torque;
__enable_irq();
}
void loop() {
__enable_irq();
foc_step(&motor);
CAN_message_t msg;
// Process incoming CAN messages
while (Can.read(msg)) {
listen_can(msg);
CAN_GET = true;
}
/* If receive data from CAN */
if(CAN_GET) {
CAN_GET = false;
}
}
#include "Arduino.h"
#include "stm32f446xx.h"
#include <SimpleFOC.h>
#include <STM32_CAN.h>
#include <AS5045.h>
#include <DRV8313.h>
#include <cstring>
#include <iostream>
#include <iterator>
#include "common/base_classes/FOCMotor.h"
#include "hal_conf_extra.h"
#include "wiring_analog.h"
#include "wiring_constants.h"
// clang-format on
#include "hal_conf_extra.h"
#include "reg_cah.h"
#include "flash.h"
#include "config.h"
#include "process_can.h"
void SysTick_Handler(void) {
HAL_IncTick();
}
STM32_CAN Can(CAN2, DEF);
/* for FLASH */
uint32_t flash_flag;
uint8_t flag_can = 0;
uint32_t flash_error;
FLASH_EraseInitTypeDef pEraseInit;
uint32_t SectorError;
uint32_t timeout;
/* bool for test CAN */
volatile bool CAN_GET = false;
volatile float kt = 0.1; // Torque calculation constant
FLASH_RECORD* flash_rec;
SPIClass spi;
MagneticSensorAS5045 encoder(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(0.01, 10.0, CURRENT_SENSOR_1,
CURRENT_SENSOR_2, CURRENT_SENSOR_3);
// Commander command(Serial);
MotorControlInputs motor_control_inputs;
volatile uint16_t msg_id;
volatile uint16_t id_x;
volatile uint8_t msg_ch;
volatile uint8_t crc_h;
volatile uint8_t crc_l;
volatile bool rx_can = false;
CAN_message_t msg;
void setup(){
SCB->VTOR = (volatile uint32_t)0x08008004;
Serial.setRx(HARDWARE_SERIAL_RX_PIN);
Serial.setTx(HARDWARE_SERIAL_TX_PIN);
Serial.begin(115200);
pinMode(PC11, OUTPUT);
pinMode(PC10,OUTPUT);
GPIOC->ODR &= ~GPIO_ODR_OD10;
// Can.enableMBInterrupts();
Can.begin();
Can.setBaudRate(1000000);
flash_rec = load_params(); //for update write_ptr
if(flash_rec[firmw].value == FIRMWARE_FLAG) NVIC_SystemReset(); //if in flash go to the bootloader
// Initialize FOC system
setup_foc(&encoder, &motor, &driver, &current_sense,flash_rec);
// Default motor configuration
GPIOC->ODR |= GPIO_ODR_OD11; //set LED
motor.torque_controller = TorqueControlType::foc_current;
motor.controller = MotionControlType::torque;
__enable_irq();
}
bool is_can_busy() {
return (CAN2->TSR & (CAN_TSR_TME0 | CAN_TSR_TME1 | CAN_TSR_TME2)) == 0;
}
void wait_for_can_tx_complete() {
uint32_t start_time = HAL_GetTick();
while (!(CAN2->TSR & (CAN_TSR_TME0 | CAN_TSR_TME1 | CAN_TSR_TME2))) {
if (HAL_GetTick() - start_time > 500) break;
}
CAN2->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
}
void loop() {
send_velocity();
HAL_Delay(1);
send_angle();
HAL_Delay(1);
if(rx_can){
Can.read(msg);
listen_can(msg);
rx_can = false;
HAL_Delay(1);
}
foc_step(&motor);
}

578
controller/fw/embed/src/process_can.cpp
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@ -1,245 +1,333 @@
#include "process_can.h"
static CAN_message_t CAN_TX_msg;
static CAN_message_t CAN_inMsg;
template <typename T>
void send_can_with_id_crc(uint8_t id, uint8_t message_type, T* data) {
// Create CAN message
CAN_message_t msg_l;
msg_l.id = id;
// msg_l.len = 8; // Protocol-defined message length
memcpy(&msg_l.buf[0], &message_type, sizeof(uint8_t));
memcpy(&msg_l.buf[1], data, sizeof(T));
// Prepare CRC calculation buffer (ID + data)
uint8_t crc_data[CAN_MSG_MAX_LEN];
// Copy message ID
memcpy(crc_data, (uint8_t*)&msg_l.id, sizeof(T));
// Copy all data bytes
memcpy(crc_data + 1, msg_l.buf, 6);
// Calculate CRC
uint16_t crc_value = validate_crc16(crc_data, CAN_MSG_MAX_LEN);
// Insert CRC into buffer
// memcpy(&msg_l.buf[6], &crc_value, sizeof(uint16_t));
msg_l.buf[6] = crc_value & 0xFF;
msg_l.buf[7] = (crc_value >> 8) & 0xFF;
// Send message
Can.write(msg_l);
}
void send_velocity() {
float current_velocity = motor.shaftVelocity();
if (flash_rec == nullptr) { // Null check
// Error handling: logging, alerts, etc.
return;
}
float value = flash_rec[vel].value;
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'V',&value);
}
void send_angle() {
float current_angle = motor.shaftAngle();
if (flash_rec == nullptr) { // Null check
// Error handling: logging, alerts, etc.
return;
}
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'A',&current_angle);
}
void send_motor_enabled() {
/* Firmware data reading */
if (flash_rec == nullptr) { // Null check
// Error handling: logging, alerts, etc.
return;
}
uint8_t value = motor_control_inputs.motor_enabled; //copy current motor state
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'M',&value);
}
void send_id() {
/* Firmware data reading */
if (flash_rec == nullptr) { // Null check
// Error handling: logging, alerts, etc.
return;
}
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'I',&id);
}
// void send_motor_torque() {
// float i_q = motor.current.q; // Q-axis current (A)
// float torque = kt * i_q; // Torque calculation
// torque *= 100;
// CAN_TX_msg.id = flash_rec->value;
// CAN_TX_msg.buf[0] = 'T';
// CAN_TX_msg.len = 5;
// memcpy(&CAN_TX_msg.buf[1], &torque, sizeof(torque));
// Can.write(CAN_TX_msg);
// }
void send_pid_angle(uint8_t param_pid){
if (flash_rec == nullptr) { // Null check
return;
}
uint8_t id = flash_rec[addr_id].value;
conv_float_to_int.i = flash_rec[param_pid].value;
uint32_t data = conv_float_to_int.i;
switch(param_pid){
case pid_p:
param_pid = REG_MOTOR_POSPID_Kp;
break;
case pid_i:
param_pid = REG_MOTOR_POSPID_Ki;
break;
case pid_d:
param_pid = REG_MOTOR_POSPID_Kd;
break;
}
send_can_with_id_crc(id,param_pid,&data);
}
void setup_id(uint8_t my_id) {
write_param(addr_id,my_id);
}
void firmware_update(){
write_param(firmw,FIRMWARE_FLAG);
NVIC_SystemReset();
}
void setup_angle(float target_angle) {
motor.enable(); // Enable motor if disabled
// motor.controller = MotionControlType::angle;
motor_control_inputs.target_angle = target_angle;
// motor.move(target_angle);
}
// void setup_pid_angle(uint8_t param_pid, uint32_t data){
// conv_float_to_int.f = data;
// switch (param_pid) {
// case pid_p:
// motor.P_angle.P = conv_float_to_int.f;
// break;
// case pid_i:
// motor.P_angle.I = conv_float_to_int.f;
// break;
// case pid_d:
// motor.P_angle.D = conv_float_to_int.f;
// break;
// default:
// break;
// }
// write_param(param_pid,data);
// }
void listen_can(const CAN_message_t &msg) {
msg_id = msg.id;
msg_ch = msg_id & 0xF; // Extract message channel
uint16_t id_x = (msg_id >> 4) & 0x7FF; // Extract device address
/* CRC Calculation */
uint16_t received_crc = (msg.buf[msg.len - 2]) | (msg.buf[msg.len - 1] << 8);
uint8_t data[10] = {0}; // Message buffer for CRC verification
// Copy message ID (2 bytes)
memcpy(data, (uint8_t*)&msg_id, sizeof(msg_id));
// Copy message data (excluding CRC bytes)
memcpy(data + sizeof(msg_id), msg.buf, msg.len - 2);
// Calculate CRC
uint16_t calculated_crc = validate_crc16(data, sizeof(msg_id) + msg.len - 2);
// Verify CRC match
if (calculated_crc != received_crc) {
return; // Ignore message on CRC mismatch
}
flash_rec = load_params();
/* Message Structure: 0x691
69 - Device address
1 - Action code */
if(id_x == flash_rec[addr_id].value){
if(msg_ch == REG_WRITE){
switch(msg.buf[0]) {
case REG_ID:
setup_id(msg.buf[1]);
break;
case REG_LED_BLINK:
for (int i = 0; i < 10; i++) {
GPIOC->ODR ^= GPIO_ODR_OD10;
delay(100);
}
break;
case MOTOR_ANGLE:
memcpy(&motor_control_inputs.target_angle, &msg.buf[1],
sizeof(motor_control_inputs.target_angle));
setup_angle(motor_control_inputs.target_angle);
break;
case REG_MOTOR_POSPID_Kp:
memcpy(&motor.P_angle.P, &msg.buf[1], sizeof(float));
conv_float_to_int.f = motor.P_angle.P;
write_param(pid_p,conv_float_to_int.i);
break;
case REG_MOTOR_POSPID_Ki:
memcpy(&motor.P_angle.I, &msg.buf[1], sizeof(float));
conv_float_to_int.f = motor.P_angle.I;
write_param(pid_i,conv_float_to_int.i);
break;
case REG_MOTOR_POSPID_Kd:
memcpy(&motor.P_angle.D, &msg.buf[1], sizeof(float));
conv_float_to_int.f = motor.P_angle.D;
write_param(pid_d,conv_float_to_int.i);
break;
case FIRMWARE_UPDATE:
firmware_update();
break;
case MOTOR_ENABLED:
if (msg.buf[1] == 1) {
motor.enable();
motor_control_inputs.motor_enabled = 1;
} else {
motor.disable();
motor_control_inputs.motor_enabled = 0;
}
default:
break;
}
}
else if (msg_ch == REG_READ) {
switch (msg.buf[0]) {
case REG_ID: send_id(); break;
case MOTOR_VELOCITY: send_velocity(); break;
case MOTOR_ANGLE: send_angle(); break;
case MOTOR_ENABLED: send_motor_enabled(); break;
// case MOTOR_TORQUE: send_motor_torque(); break;
// case FOC_STATE: send_foc_state(); break;
case REG_MOTOR_POSPID_Kp: send_pid_angle(pid_p); break;
case REG_MOTOR_POSPID_Ki: send_pid_angle(pid_i); break;
case REG_MOTOR_POSPID_Kd: send_pid_angle(pid_d); break;
default: break;
}
}
}
}
#include "process_can.h"
static CAN_message_t CAN_TX_msg;
static CAN_message_t CAN_inMsg;
static uint8_t data_type = DATA_TYPE_ANGLE;
volatile bool send_blocked = false;
template <typename T>
void send_can_with_id_crc(uint8_t id, uint8_t message_type, T* data) {
// Create CAN message
CAN_message_t msg_l;
msg_l.id = id;
// msg_l.len = 8; // Protocol-defined message length
memcpy(&msg_l.buf[0], &message_type, sizeof(uint8_t));
memcpy(&msg_l.buf[1], data, sizeof(T));
// Prepare CRC calculation buffer (ID + data)
uint8_t crc_data[CAN_MSG_MAX_LEN];
// Copy message ID
memcpy(crc_data, (uint8_t*)&msg_l.id, sizeof(T));
// Copy all data bytes
memcpy(crc_data + 1, msg_l.buf, 6);
// Calculate CRC
uint16_t crc_value = validate_crc16(crc_data, CAN_MSG_MAX_LEN);
// Insert CRC into buffer
// memcpy(&msg_l.buf[6], &crc_value, sizeof(uint16_t));
msg_l.buf[6] = crc_value & 0xFF;
msg_l.buf[7] = (crc_value >> 8) & 0xFF;
// Send message
Can.write(msg_l);
}
void send_velocity() {
float current_velocity = motor.shaftVelocity();
if (flash_rec == nullptr) { // Null check
// Error handling: logging, alerts, etc.
return;
}
// float value = flash_rec[vel].value;
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'V',&current_velocity);
}
void send_angle() {
float current_angle = motor.shaftAngle();
if (flash_rec == nullptr) { // Null check
// Error handling: logging, alerts, etc.
return;
}
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'A',&current_angle);
}
void send_motor_enabled() {
/* Firmware data reading */
if (flash_rec == nullptr) { // Null check
// Error handling: logging, alerts, etc.
return;
}
uint8_t value = motor_control_inputs.motor_enabled; //copy current motor state
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'M',&value);
}
// void send_torque() {
// float i_q = motor.current.q; // Q-axis current (A)
// float torque = 100 * i_q; // Torque calculation
// if (flash_rec == nullptr) return;
// uint8_t id = flash_rec[addr_id].value;
// send_can_with_id_crc(id, 'T', &torque);
// }
void send_id() {
/* Firmware data reading */
if (flash_rec == nullptr) { // Null check
// Error handling: logging, alerts, etc.
return;
}
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'I',&id);
}
void send_error(uint8_t error_code){
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'P',&error_code);
}
void send_pid_angle(uint8_t param_pid){
if (flash_rec == nullptr) { // Null check
return;
}
uint8_t id = flash_rec[addr_id].value;
conv_float_to_int.i = flash_rec[param_pid].value;
uint32_t data = conv_float_to_int.i;
switch(param_pid){
case pid_p:
param_pid = REG_MOTOR_POSPID_Kp;
break;
case pid_i:
param_pid = REG_MOTOR_POSPID_Ki;
break;
case pid_d:
param_pid = REG_MOTOR_POSPID_Kd;
break;
}
send_can_with_id_crc(id,param_pid,&data);
}
void setup_id(uint8_t my_id) {
write_param(addr_id,my_id);
}
void firmware_update(){
write_param(firmw,FIRMWARE_FLAG);
NVIC_SystemReset();
}
void setup_angle(float target_angle) {
motor.enable(); // Enable motor if disabled
// motor.controller = MotionControlType::angle;
motor_control_inputs.target_angle = target_angle;
// motor.move(target_angle);
}
/**
* @brief Set the up velocity object
*
* @param target_velocity
*/
void setup_velocity(float target_velocity) {
motor.enable();
motor_control_inputs.target_velocity = target_velocity;
}
void send_data_type(uint8_t type_d){
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'D',&type_d);
}
// Вспомогательные функции
void send_with_confirmation(void (*send_func)(void)) {
uint32_t t_start = HAL_GetTick();
send_func();
// Ожидание подтверждения отправки
while (!(CAN2->TSR & (CAN_TSR_RQCP0 | CAN_TSR_RQCP1 | CAN_TSR_RQCP2))) {
if (HAL_GetTick() - t_start > CAN_TIMEOUT) break;
}
}
void process_can_messages() {
static uint32_t last_received = HAL_GetTick();
CAN_message_t msg;
uint8_t count = 0;
// block send while data cant
send_blocked = true;
while(count < MAX_CAN_READS && Can.read(msg)) {
listen_can(msg);
last_received = HAL_GetTick();
count++;
}
// Проверка таймаута молчания
if(HAL_GetTick() - last_received > CAN_SILENCE_TIMEOUT) {
// Разблокируем отправку при отсутствии сообщений
send_blocked = false;
}
}
/**
* @brief Function for process data from CAN
* @details Function check your ID deviceю. Compare receive and calculated CRC.
* If ID && CRC == TRUE, then process message or dont send data.
* If if and crc = true:
* Check CAN_REG
* Gives your data type
* Write with data or send data
* @param msg
*/
void listen_can(const CAN_message_t &msg) {
msg_id = msg.id;
msg_ch = msg_id & 0xF; // Extract message channel
uint16_t id_x = (msg_id >> 4) & 0x7FF; // Extract device address
/* CRC Calculation */
uint16_t received_crc = (msg.buf[msg.len - 2]) | (msg.buf[msg.len - 1] << 8);
uint8_t data[10] = {0}; // Message buffer for CRC verification
// Copy message ID (2 bytes)
memcpy(data, (uint8_t*)&msg_id, sizeof(msg_id));
// Copy message data (excluding CRC bytes)
memcpy(data + sizeof(msg_id), msg.buf, msg.len - 2);
// Calculate CRC
uint16_t calculated_crc = validate_crc16(data, sizeof(msg_id) + msg.len - 2);
// Verify CRC match
if (calculated_crc != received_crc) {
return; // Ignore message on CRC mismatch
}
flash_rec = load_params();
/* Message Structure: 0x691
69 - Device address
1 - Action code */
if(id_x != flash_rec[addr_id].value){
return;
}
if(msg_ch == REG_WRITE){
switch(msg.buf[0]) {
case REG_ID:
setup_id(msg.buf[1]);
break;
case REG_LED_BLINK:
for (int i = 0; i < 10; i++) {
GPIOC->ODR ^= GPIO_ODR_OD10;
delay(100);
}
break;
case MOTOR_ANGLE:
memcpy(&motor_control_inputs.target_angle, &msg.buf[1],
sizeof(motor_control_inputs.target_angle));
setup_angle(motor_control_inputs.target_angle);
break;
case REG_MOTOR_POSPID_Kp:
memcpy(&motor.P_angle.P, &msg.buf[1], sizeof(float));
conv_float_to_int.f = motor.P_angle.P;
write_param(pid_p,conv_float_to_int.i);
break;
case REG_MOTOR_POSPID_Ki:
memcpy(&motor.P_angle.I, &msg.buf[1], sizeof(float));
conv_float_to_int.f = motor.P_angle.I;
write_param(pid_i,conv_float_to_int.i);
break;
case REG_MOTOR_POSPID_Kd:
memcpy(&motor.P_angle.D, &msg.buf[1], sizeof(float));
conv_float_to_int.f = motor.P_angle.D;
write_param(pid_d,conv_float_to_int.i);
break;
case DATA_TYPE_ANGLE:
data_type = DATA_TYPE_ANGLE;
break;
case DATA_TYPE_VELOCITY:
data_type = DATA_TYPE_VELOCITY;
break;
case DATA_TYPE_TORQUE:
data_type = DATA_TYPE_TORQUE;
break;
case FIRMWARE_UPDATE:
firmware_update();
break;
case MOTOR_ENABLED:
if (msg.buf[1] == 1) {
motor.enable();
motor_control_inputs.motor_enabled = 1;
} else {
motor.disable();
motor_control_inputs.motor_enabled = 0;
}
default:
break;
}
}
else if (msg_ch == REG_READ) {
switch (msg.buf[0]) {
case REG_ID: send_id(); break;
case MOTOR_VELOCITY: send_velocity(); break;
case MOTOR_ANGLE: send_angle(); break;
case MOTOR_ENABLED: send_motor_enabled(); break;
case DATA_TYPE_ANGLE: send_data_type(uint8_t(DATA_TYPE_ANGLE)); break;
case DATA_TYPE_VELOCITY: send_data_type(uint8_t(DATA_TYPE_VELOCITY)); break;
case DATA_TYPE_TORQUE: send_data_type(uint8_t(DATA_TYPE_TORQUE)); break;
// case MOTOR_TORQUE: send_motor_torque(); break;
// case FOC_STATE: send_foc_state(); break;
case REG_MOTOR_POSPID_Kp: send_pid_angle(pid_p); break;
case REG_MOTOR_POSPID_Ki: send_pid_angle(pid_i); break;
case REG_MOTOR_POSPID_Kd: send_pid_angle(pid_d); break;
default: break;
}
}
/* If msg_ch != REG_WRITE or REG_READ, then SimpleFOC*/
else{
switch(data_type) {
/* Read after write*/
case DATA_TYPE_ANGLE:
send_angle();
delay(200);
memcpy(&motor_control_inputs.target_angle, &msg.buf[1], sizeof(float));
setup_angle(motor_control_inputs.target_angle);
break;
case DATA_TYPE_VELOCITY:{
send_velocity();
float vel = 0.0f;
memcpy(&vel, &msg.buf[1], sizeof(float));
setup_velocity(vel);
break;
}
case DATA_TYPE_TORQUE:
// send_torque();
break;
default:
send_error(error_foc);
break;
}
}
HAL_Delay(10);
}

172
controller/fw/embed/test/README.md
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@ -1,86 +1,86 @@
# CAN Communication Scripts
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.
## Prerequisites
1. **Python 3.7+** installed on your system.
2. **`python-can` library** installed. Install it via pip:
```bash
pip install python-can
```
3. **SocketCAN interface** properly configured on your Linux system. The default channel is `can0`.
## Usage
### 1. Receiving CAN Messages
The script `python_can.py` listens to the CAN bus and processes incoming messages.
#### Run:
```bash
python3 python_can.py
```
#### Features:
- Processes messages with data length 5.
- Parses the first byte (`flag`) to determine the type:
- `'A'`: Angle (float).
- `'V'`: Velocity (float).
- `'E'`: Enable/disable status (boolean).
### 2. Enabling or Disabling the Motor
The script `python_enable_motor.py` sends commands to enable or disable the motor.
#### Run:
```bash
python3 python_enable_motor.py <0|1>
```
#### Arguments:
- `0`: Disable the motor.
- `1`: Enable the motor.
### 3. Sending Target Angle
The script `python_send_angle.py` sends a target angle to the CAN bus.
#### Run:
```bash
python3 python_send_angle.py
```
#### Behavior:
- 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
```
# CAN Communication Scripts
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.
## Prerequisites
1. **Python 3.7+** installed on your system.
2. **`python-can` library** installed. Install it via pip:
```bash
pip install python-can
```
3. **SocketCAN interface** properly configured on your Linux system. The default channel is `can0`.
## Usage
### 1. Receiving CAN Messages
The script `python_can.py` listens to the CAN bus and processes incoming messages.
#### Run:
```bash
python3 python_can.py
```
#### Features:
- Processes messages with data length 5.
- Parses the first byte (`flag`) to determine the type:
- `'A'`: Angle (float).
- `'V'`: Velocity (float).
- `'E'`: Enable/disable status (boolean).
### 2. Enabling or Disabling the Motor
The script `python_enable_motor.py` sends commands to enable or disable the motor.
#### Run:
```bash
python3 python_enable_motor.py <0|1>
```
#### Arguments:
- `0`: Disable the motor.
- `1`: Enable the motor.
### 3. Sending Target Angle
The script `python_send_angle.py` sends a target angle to the CAN bus.
#### Run:
```bash
python3 python_send_angle.py
```
#### Behavior:
- 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
```

108
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@ -1,54 +1,54 @@
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()
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()

282
controller/fw/embed/test/firmware_can.py
View file

@ -1,141 +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])
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])

140
controller/fw/embed/test/firmware_update_flag.py
View file

@ -1,70 +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)
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)

206
controller/fw/embed/test/pid_p.py
View file

@ -1,103 +1,103 @@
import can
import time
import struct
# Конфигурация
CAN_INTERFACE = 'can0'
OLD_DEVICE_ID = 0x00 # Текущий ID устройства (по умолчанию)
REG_READ = 0x7 # Код команды чтения
REG_ID = 0x30 # Адрес регистра с REG_PMOTOR_POSPID_Kp устройства
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 receive_response(bus, timeout=1.0):
"""Ожидание ответа от устройства"""
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
return msg
print("[Ошибка] Таймаут")
return None
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_READ
# 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("Запрос на чтение ID:", packet_read)
send_can_message(bus, can_id_read, packet_read)
# ======= 2. Получение и проверка ответа =======
response = receive_response(bus)
if response:
data = response.data
if len(data) < 4:
print("Слишком короткий ответ")
# Проверяем минимальную длину ответа (данные + CRC)
else:
id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
#buff with id and data without CRC
full_data = list(id_bytes) + list(data[:-2])
print(f"Received full_data: {list(full_data)}")
received_crc = int.from_bytes(data[-2:], byteorder='little')
#calc CRC
calc_crc = validate_crc16(full_data)
print(f"Расчитанный CRC PYTHON : 0x{calc_crc:02X}")
if received_crc == calc_crc:
# Если CRC совпадает, проверяем структуру ответа:
kp_value = struct.unpack('<f', bytes(data[1:5]))[0]
print(f"Текущий Kp устройства: {kp_value:.3f}")
else:
print("Ошибка: CRC не совпадает")
else:
print("Устройство не ответило")
# Завершаем работу с шиной
bus.shutdown()
import can
import time
import struct
# Конфигурация
CAN_INTERFACE = 'can0'
OLD_DEVICE_ID = 0x00 # Текущий ID устройства (по умолчанию)
REG_READ = 0x7 # Код команды чтения
REG_ID = 0x30 # Адрес регистра с REG_PMOTOR_POSPID_Kp устройства
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 receive_response(bus, timeout=1.0):
"""Ожидание ответа от устройства"""
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
return msg
print("[Ошибка] Таймаут")
return None
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_READ
# 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("Запрос на чтение ID:", packet_read)
send_can_message(bus, can_id_read, packet_read)
# ======= 2. Получение и проверка ответа =======
response = receive_response(bus)
if response:
data = response.data
if len(data) < 4:
print("Слишком короткий ответ")
# Проверяем минимальную длину ответа (данные + CRC)
else:
id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
#buff with id and data without CRC
full_data = list(id_bytes) + list(data[:-2])
print(f"Received full_data: {list(full_data)}")
received_crc = int.from_bytes(data[-2:], byteorder='little')
#calc CRC
calc_crc = validate_crc16(full_data)
print(f"Расчитанный CRC PYTHON : 0x{calc_crc:02X}")
if received_crc == calc_crc:
# Если CRC совпадает, проверяем структуру ответа:
kp_value = struct.unpack('<f', bytes(data[1:5]))[0]
print(f"Текущий Kp устройства: {kp_value:.3f}")
else:
print("Ошибка: CRC не совпадает")
else:
print("Устройство не ответило")
# Завершаем работу с шиной
bus.shutdown()

230
controller/fw/embed/test/python_test_id.py
View file

@ -1,115 +1,115 @@
import can
import time
# Конфигурация
CAN_INTERFACE = 'can0'
OLD_DEVICE_ID = 0x00
NEW_DEVICE_ID = 0x69
REG_WRITE = 0x8
REG_READ = 0x7
REG_ID = 0x1
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 receive_response(bus, timeout=2.0):
"""Ожидание ответа"""
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
return msg
print("[Ошибка] Таймаут")
return None
def validate_crc16(data):
"""Функция расчета CRC16 (MODBUS)"""
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
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
# ======= 1. Отправляем команду изменить ID =======
# Весь буфер: id + команда + параметры
OLD_WITH_REG = (OLD_DEVICE_ID << 4) | REG_WRITE
id_bytes = list(OLD_WITH_REG.to_bytes(2, byteorder='little'))
# Важные части сообщения: address (id), команда, параметры
data_write = [REG_ID, NEW_DEVICE_ID] # команда изменить ID
# Полностью собираем массив для CRC (включая id и команду)
full_data_for_crc = id_bytes + data_write
# Расчет CRC по всему пакету
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
# Итоговый пакет: команда + параметры + CRC
packet_write = data_write + crc_bytes
print("Отправляем: команда изменить ID + CRC:", packet_write)
# Отправляем с `OLD_DEVICE_ID` в качестве адреса
send_can_message(bus, (OLD_DEVICE_ID << 4) | REG_WRITE, packet_write)
time.sleep(0.5)
# ======= 2. Запрашиваем текущий ID (используем новый адрес) =======
# Теперь для запроса используем **уже новый id**
NEW_WITH_REG = (NEW_DEVICE_ID << 4) | REG_READ
current_id_bytes = list(NEW_WITH_REG.to_bytes(2, byteorder='little'))
data_read = [REG_ID, 0x00]
full_data_for_crc = current_id_bytes + data_read
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
packet_read = data_read + crc_bytes
print("Запрос на чтение ID + CRC (после смены):", packet_read)
send_can_message(bus, (NEW_DEVICE_ID << 4) | REG_READ, packet_read)
# ======= 3. Получение и проверка ответа =======
response = receive_response(bus)
if response:
data = response.data
if len(data) < 4:
print("Ответ слишком короткий")
else:
received_crc = int.from_bytes(data[-2:], byteorder='little')
print("Полученный CRC: ", received_crc)
# Расчет CRC по всему пакету без CRC
calc_crc = validate_crc16(data[:-2])
if received_crc == calc_crc:
if data[0] == ord('I') and data[1] == NEW_DEVICE_ID:
print(f"\nУСПЕХ! ID устройства изменен на 0x{NEW_DEVICE_ID:02X}")
else:
print(f"Некорректный ответ: {list(data)}")
else:
print("CRC не совпадает, данные повреждены.")
else:
print("Нет ответа от устройства.")
bus.shutdown()
import can
import time
# Конфигурация
CAN_INTERFACE = 'can0'
OLD_DEVICE_ID = 0x00
NEW_DEVICE_ID = 0x69
REG_WRITE = 0x8
REG_READ = 0x7
REG_ID = 0x1
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 receive_response(bus, timeout=2.0):
"""Ожидание ответа"""
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
return msg
print("[Ошибка] Таймаут")
return None
def validate_crc16(data):
"""Функция расчета CRC16 (MODBUS)"""
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
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
# ======= 1. Отправляем команду изменить ID =======
# Весь буфер: id + команда + параметры
OLD_WITH_REG = (OLD_DEVICE_ID << 4) | REG_WRITE
id_bytes = list(OLD_WITH_REG.to_bytes(2, byteorder='little'))
# Важные части сообщения: address (id), команда, параметры
data_write = [REG_ID, NEW_DEVICE_ID] # команда изменить ID
# Полностью собираем массив для CRC (включая id и команду)
full_data_for_crc = id_bytes + data_write
# Расчет CRC по всему пакету
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
# Итоговый пакет: команда + параметры + CRC
packet_write = data_write + crc_bytes
print("Отправляем: команда изменить ID + CRC:", packet_write)
# Отправляем с `OLD_DEVICE_ID` в качестве адреса
send_can_message(bus, (OLD_DEVICE_ID << 4) | REG_WRITE, packet_write)
time.sleep(0.5)
# ======= 2. Запрашиваем текущий ID (используем новый адрес) =======
# Теперь для запроса используем **уже новый id**
NEW_WITH_REG = (NEW_DEVICE_ID << 4) | REG_READ
current_id_bytes = list(NEW_WITH_REG.to_bytes(2, byteorder='little'))
data_read = [REG_ID, 0x00]
full_data_for_crc = current_id_bytes + data_read
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
packet_read = data_read + crc_bytes
print("Запрос на чтение ID + CRC (после смены):", packet_read)
send_can_message(bus, (NEW_DEVICE_ID << 4) | REG_READ, packet_read)
# ======= 3. Получение и проверка ответа =======
response = receive_response(bus)
if response:
data = response.data
if len(data) < 4:
print("Ответ слишком короткий")
else:
received_crc = int.from_bytes(data[-2:], byteorder='little')
print("Полученный CRC: ", received_crc)
# Расчет CRC по всему пакету без CRC
calc_crc = validate_crc16(data[:-2])
if received_crc == calc_crc:
if data[0] == ord('I') and data[1] == NEW_DEVICE_ID:
print(f"\nУСПЕХ! ID устройства изменен на 0x{NEW_DEVICE_ID:02X}")
else:
print(f"Некорректный ответ: {list(data)}")
else:
print("CRC не совпадает, данные повреждены.")
else:
print("Нет ответа от устройства.")
bus.shutdown()

252
controller/fw/embed/test/readPID_angle_parametrs.py
View file

@ -1,126 +1,126 @@
import can
import time
import struct
import sys
# Конфигурация
CAN_INTERFACE = 'can0'
DEVICE_ID = int(sys.argv[1]) # ID ADDR for servo
REG_READ = 0x7 # Код команды чтения
REG_MOTOR_POSPID_Kp = 0x30
REG_MOTOR_POSPID_Ki = 0x31
REG_MOTOR_POSPID_Kd = 0x32
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)"""
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_read_request(bus, device_id, register):
"""Отправка запроса на чтение регистра"""
can_id = (device_id << 4) | REG_READ
data_part = [register, 0x00]
# Расчет CRC для CAN ID (2 байта) + данные
full_data_for_crc = list(can_id.to_bytes(2, 'little')) + data_part
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, 'little'))
# Формирование итогового пакета
packet = data_part + crc_bytes
send_can_message(bus, can_id, packet)
def receive_pid_response(bus, timeout=1.0):
"""Получение и проверка ответа с PID-значением"""
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg and msg.arbitration_id == DEVICE_ID:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
if len(msg.data) < 8:
print("Ошибка: Слишком короткий ответ")
return None
# Извлечение данных и CRC
data = msg.data
received_crc = int.from_bytes(data[-2:], byteorder='little')
# Подготовка данных для проверки CRC
id_bytes = msg.arbitration_id.to_bytes(1, 'little')
full_data = list(id_bytes) + list(data[:-2])
# Проверка CRC
calc_crc = validate_crc16(full_data)
if calc_crc != received_crc:
print(f"Ошибка CRC: ожидалось 0x{calc_crc:04X}, получено 0x{received_crc:04X}")
return None
# Извлечение float значения
try:
value = struct.unpack('<f', bytes(data[1:5]))[0]
return value
except struct.error:
print("Ошибка распаковки float")
return None
print("Таймаут ожидания ответа")
return None
def main():
"""Основная логика чтения PID-коэффициентов"""
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
try:
# Чтение коэффициентов с задержкой
print("\nЧтение Kp...")
send_read_request(bus, DEVICE_ID, REG_MOTOR_POSPID_Kp)
kp = receive_pid_response(bus)
if kp is not None:
print(f"Текущий Kp: {kp:.3f}")
time.sleep(1)
print("\nЧтение Ki...")
send_read_request(bus, DEVICE_ID, REG_MOTOR_POSPID_Ki)
ki = receive_pid_response(bus)
if ki is not None:
print(f"Текущий Ki: {ki:.3f}")
time.sleep(1)
print("\nЧтение Kd...")
send_read_request(bus, DEVICE_ID, REG_MOTOR_POSPID_Kd)
kd = receive_pid_response(bus)
if kd is not None:
print(f"Текущий Kd: {kd:.3f}")
finally:
bus.shutdown()
if __name__ == "__main__":
if len(sys.argv) != 2:
print("Используйте python3 read_pid.py addr")
sys.exit(1)
main()
import can
import time
import struct
import sys
# Конфигурация
CAN_INTERFACE = 'can0'
DEVICE_ID = int(sys.argv[1]) # ID ADDR for servo
REG_READ = 0x7 # Код команды чтения
REG_MOTOR_POSPID_Kp = 0x30
REG_MOTOR_POSPID_Ki = 0x31
REG_MOTOR_POSPID_Kd = 0x32
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)"""
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_read_request(bus, device_id, register):
"""Отправка запроса на чтение регистра"""
can_id = (device_id << 4) | REG_READ
data_part = [register, 0x00]
# Расчет CRC для CAN ID (2 байта) + данные
full_data_for_crc = list(can_id.to_bytes(2, 'little')) + data_part
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, 'little'))
# Формирование итогового пакета
packet = data_part + crc_bytes
send_can_message(bus, can_id, packet)
def receive_pid_response(bus, timeout=1.0):
"""Получение и проверка ответа с PID-значением"""
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg and msg.arbitration_id == DEVICE_ID:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
if len(msg.data) < 8:
print("Ошибка: Слишком короткий ответ")
return None
# Извлечение данных и CRC
data = msg.data
received_crc = int.from_bytes(data[-2:], byteorder='little')
# Подготовка данных для проверки CRC
id_bytes = msg.arbitration_id.to_bytes(1, 'little')
full_data = list(id_bytes) + list(data[:-2])
# Проверка CRC
calc_crc = validate_crc16(full_data)
if calc_crc != received_crc:
print(f"Ошибка CRC: ожидалось 0x{calc_crc:04X}, получено 0x{received_crc:04X}")
return None
# Извлечение float значения
try:
value = struct.unpack('<f', bytes(data[1:5]))[0]
return value
except struct.error:
print("Ошибка распаковки float")
return None
print("Таймаут ожидания ответа")
return None
def main():
"""Основная логика чтения PID-коэффициентов"""
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
try:
# Чтение коэффициентов с задержкой
print("\nЧтение Kp...")
send_read_request(bus, DEVICE_ID, REG_MOTOR_POSPID_Kp)
kp = receive_pid_response(bus)
if kp is not None:
print(f"Текущий Kp: {kp:.3f}")
time.sleep(1)
print("\nЧтение Ki...")
send_read_request(bus, DEVICE_ID, REG_MOTOR_POSPID_Ki)
ki = receive_pid_response(bus)
if ki is not None:
print(f"Текущий Ki: {ki:.3f}")
time.sleep(1)
print("\nЧтение Kd...")
send_read_request(bus, DEVICE_ID, REG_MOTOR_POSPID_Kd)
kd = receive_pid_response(bus)
if kd is not None:
print(f"Текущий Kd: {kd:.3f}")
finally:
bus.shutdown()
if __name__ == "__main__":
if len(sys.argv) != 2:
print("Используйте python3 read_pid.py addr")
sys.exit(1)
main()

196
controller/fw/embed/test/read_angle.py
View file

@ -1,98 +1,98 @@
import can
import struct
import time
import argparse
# Константы
CAN_INTERFACE = 'can0'
DEVICE_ID = 0x27 # ID ADDR for servo
REG_WRITE = 0x7
REG_POS = 0x72 # MOTOR+ANGLE = 0x72
def validate_crc16(data):
# Calculate CRC16
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 receive_response(bus, timeout=1.0):
"""Ожидание ответа от устройства"""
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
return msg
print("[Ошибка] Таймаут")
return None
def send_target_angle(bus):
# ID and cmd
arbitration_id = (DEVICE_ID << 4) | REG_WRITE
id_bytes = list(arbitration_id.to_bytes(2, byteorder='little'))
# cmd + parametrs
data_write = [REG_POS]
full_data_for_crc = id_bytes + data_write
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
# Full packet
packet = data_write + crc_bytes
msg = can.Message(
arbitration_id=arbitration_id,
is_extended_id=False,
data=packet
)
bus.send(msg)
response = receive_response(bus)
if response:
data = response.data
if len(data) < 4:
print("Слишком короткий ответ")
# Проверяем минимальную длину ответа (данные + CRC)
else:
id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
#buff with id and data without CRC
full_data = list(id_bytes) + list(data[:-2])
print(f"Received full_data: {list(full_data)}")
received_crc = int.from_bytes(data[-2:], byteorder='little')
#calc CRC
calc_crc = validate_crc16(full_data)
print(f"Расчитанный CRC PYTHON : 0x{calc_crc:02X}")
if received_crc == calc_crc:
# Если CRC совпадает, проверяем структуру ответа:
velocity = struct.unpack('<f', bytes(data[1:5]))[0]
print(f"Угол: {velocity}")
else:
print("Ошибка: CRC не совпадает")
else:
print("Устройство не ответило")
def main():
# Инициализация CAN
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
print("CAN шина инициализирована.")
send_target_angle(bus)
bus.shutdown()
if __name__ == '__main__':
main()
import can
import struct
import time
import argparse
# Константы
CAN_INTERFACE = 'can0'
DEVICE_ID = 0x27 # ID ADDR for servo
REG_WRITE = 0x7
REG_POS = 0x72 # MOTOR+ANGLE = 0x72
def validate_crc16(data):
# Calculate CRC16
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 receive_response(bus, timeout=1.0):
"""Ожидание ответа от устройства"""
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
return msg
print("[Ошибка] Таймаут")
return None
def send_target_angle(bus):
# ID and cmd
arbitration_id = (DEVICE_ID << 4) | REG_WRITE
id_bytes = list(arbitration_id.to_bytes(2, byteorder='little'))
# cmd + parametrs
data_write = [REG_POS]
full_data_for_crc = id_bytes + data_write
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
# Full packet
packet = data_write + crc_bytes
msg = can.Message(
arbitration_id=arbitration_id,
is_extended_id=False,
data=packet
)
bus.send(msg)
response = receive_response(bus)
if response:
data = response.data
if len(data) < 4:
print("Слишком короткий ответ")
# Проверяем минимальную длину ответа (данные + CRC)
else:
id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
#buff with id and data without CRC
full_data = list(id_bytes) + list(data[:-2])
print(f"Received full_data: {list(full_data)}")
received_crc = int.from_bytes(data[-2:], byteorder='little')
#calc CRC
calc_crc = validate_crc16(full_data)
print(f"Расчитанный CRC PYTHON : 0x{calc_crc:02X}")
if received_crc == calc_crc:
# Если CRC совпадает, проверяем структуру ответа:
velocity = struct.unpack('<f', bytes(data[1:5]))[0]
print(f"Угол: {velocity}")
else:
print("Ошибка: CRC не совпадает")
else:
print("Устройство не ответило")
def main():
# Инициализация CAN
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
print("CAN шина инициализирована.")
send_target_angle(bus)
bus.shutdown()
if __name__ == '__main__':
main()

254
controller/fw/embed/test/read_id.py
View file

@ -1,108 +1,146 @@
import can
import time
import sys
# Конфигурация
CAN_INTERFACE = 'can0'
OLD_DEVICE_ID = int(sys.argv[1]) # Текущий ID устройства (по умолчанию)
REG_READ = 0x7 # Код команды чтения
REG_ID = 0x01 # Адрес регистра с ID устройства
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 receive_response(bus, timeout=1.0):
"""Ожидание ответа от устройства"""
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
return msg
print("[Ошибка] Таймаут")
return None
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_READ
# 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("Запрос на чтение ID:", packet_read)
send_can_message(bus, can_id_read, packet_read)
# ======= 2. Получение и проверка ответа =======
response = receive_response(bus)
if response:
data = response.data
if len(data) < 4:
print("Слишком короткий ответ")
# Проверяем минимальную длину ответа (данные + CRC)
else:
id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
#buff with id and data without CRC
full_data = list(id_bytes) + list(data[:-2])
print(f"Received full_data: {list(full_data)}")
received_crc = int.from_bytes(data[-2:], byteorder='little')
#calc CRC
calc_crc = validate_crc16(full_data)
print(f"Расчитанный CRC PYTHON : 0x{calc_crc:02X}")
if received_crc == calc_crc:
# Если CRC совпадает, проверяем структуру ответа:
print(f"Текущий ID устройства: 0x{data[1]:02X}")
else:
print("Ошибка: CRC не совпадает")
else:
print("Устройство не ответило")
# Завершаем работу с шиной
bus.shutdown()
if __name__ == "__main__":
import sys
if len(sys.argv) != 2:
print("Использование: python3 can_flasher.py address")
sys.exit(1)
import can
import time
import sys
# Конфигурация
CAN_INTERFACE = 'can0'
OLD_DEVICE_ID = int(sys.argv[1]) # Текущий ID устройства
REG_READ = 0x7 # Код команды чтения
REG_ID = 0x01 # Адрес регистра с ID устройства
def flush_can_buffer(bus, duration=0.3):
"""Очистка входного буфера CAN"""
start_time = time.time()
flushed_count = 0
while time.time() - start_time < duration:
msg = bus.recv(timeout=0)
if msg:
flushed_count += 1
print(f"Очищено сообщений из буфера: {flushed_count}")
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 receive_response(bus, timeout=1.0):
"""Ожидание ответа от устройства (сохраняем вашу оригинальную логику)"""
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
return msg
print("[Ошибка] Таймаут приема")
return None
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
def main():
# Инициализация CAN-интерфейса
try:
bus = can.interface.Bus(
channel=CAN_INTERFACE,
bustype='socketcan',
bitrate=1000000 # Совпадает с устройством
)
except Exception as e:
print(f"Ошибка инициализации CAN: {e}")
sys.exit(1)
# ======= 1. Подготовка запроса =======
can_id_read = (OLD_DEVICE_ID << 4) | REG_READ
data_read = [REG_ID, 0x00]
# Формируем полные данные для расчета CRC:
full_data_for_crc = list(can_id_read.to_bytes(2, 'little')) + data_read
# Рассчитываем CRC
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, 'little'))
# Собираем итоговый пакет
packet_read = data_read + crc_bytes
# ======= 2. Отправка запроса с повторами =======
max_retries = 3
response = None
for attempt in range(max_retries):
print(f"\nПопытка {attempt+1}/{max_retries}")
# Очистка буфера перед отправкой
flush_can_buffer(bus, 0.3)
# Отправка запроса
print(f"Отправка запроса на чтение ID: {packet_read}")
if not send_can_message(bus, can_id_read, packet_read):
print("Ошибка отправки, повтор...")
time.sleep(0.2)
continue
# Ожидание ответа
response = receive_response(bus, timeout=0.5)
if response:
break
print("Ответ не получен, повтор...")
time.sleep(0.2)
# ======= 3. Обработка ответа =======
if not response:
print("Устройство не ответило после всех попыток")
bus.shutdown()
sys.exit(1)
data = response.data
if len(data) < 4:
print("Слишком короткий ответ")
bus.shutdown()
sys.exit(1)
# Проверяем минимальную длину ответа (данные + CRC)
id_bytes = response.arbitration_id.to_bytes(1, byteorder='little')
full_data = list(id_bytes) + list(data[:-2])
print(f"Полные данные для CRC: {full_data}")
received_crc = int.from_bytes(data[-2:], byteorder='little')
calc_crc = validate_crc16(full_data)
print(f"Расчитанный CRC: 0x{calc_crc:04X}, Полученный CRC: 0x{received_crc:04X}")
if received_crc == calc_crc:
print(f"Текущий ID устройства: 0x{data[1]:02X}")
else:
print("Ошибка: CRC не совпадает")
# Завершаем работу с шиной
bus.shutdown()
if __name__ == "__main__":
if len(sys.argv) != 2:
print("Использование: python3 can_flasher.py <адрес_устройства>")
print("Пример: python3 can_flasher.py 1")
sys.exit(1)
main()

134
controller/fw/embed/test/send_angle.py
View file

@ -1,67 +1,67 @@
from can.interface import Bus
import can
import struct
import time
import argparse
# Константы
CAN_INTERFACE = 'can0'
DEVICE_ID = 0x27 # ID ADDR for servo
REG_WRITE = 0x8
REG_POS = 0x72 # MOTOR+ANGLE = 0x72
def validate_crc16(data):
# Calculate CRC16
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_target_angle(bus, target_angle):
# ID and cmd
arbitration_id = (DEVICE_ID << 4) | REG_WRITE
id_bytes = list(arbitration_id.to_bytes(2, byteorder='little'))
# cmd + parametrs
data_write = [REG_POS] + list(struct.pack('<f', target_angle))
full_data_for_crc = id_bytes + data_write
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
# Full packet
packet = data_write + crc_bytes
msg = can.Message(
arbitration_id=arbitration_id,
is_extended_id=False,
data=packet
)
try:
bus.send(msg)
print(f"[Отправка] CAN ID: 0x{arbitration_id:03X}, Угол: {target_angle} rad, Данные: {list(msg.data)}")
except can.CanError:
print("Ошибка отправки сообщения")
def main():
parser = argparse.ArgumentParser(description="Отправка угла позиции по CAN.")
parser.add_argument("--angle", type=float, required=True, help="Угол (в градусах)")
args = parser.parse_args()
# Инициализация CAN
bus = Bus(channel=CAN_INTERFACE, bustype='socketcan')
print("CAN шина инициализирована.")
send_target_angle(bus, args.angle)
bus.shutdown()
if __name__ == '__main__':
main()
from can.interface import Bus
import can
import struct
import time
import argparse
# Константы
CAN_INTERFACE = 'can0'
DEVICE_ID = 0x27 # ID ADDR for servo
REG_WRITE = 0x8
REG_POS = 0x72 # MOTOR+ANGLE = 0x72
def validate_crc16(data):
# Calculate CRC16
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_target_angle(bus, target_angle):
# ID and cmd
arbitration_id = (DEVICE_ID << 4) | REG_WRITE
id_bytes = list(arbitration_id.to_bytes(2, byteorder='little'))
# cmd + parametrs
data_write = [REG_POS] + list(struct.pack('<f', target_angle))
full_data_for_crc = id_bytes + data_write
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
# Full packet
packet = data_write + crc_bytes
msg = can.Message(
arbitration_id=arbitration_id,
is_extended_id=False,
data=packet
)
try:
bus.send(msg)
print(f"[Отправка] CAN ID: 0x{arbitration_id:03X}, Угол: {target_angle} rad, Данные: {list(msg.data)}")
except can.CanError:
print("Ошибка отправки сообщения")
def main():
parser = argparse.ArgumentParser(description="Отправка угла позиции по CAN.")
parser.add_argument("--angle", type=float, required=True, help="Угол (в градусах)")
args = parser.parse_args()
# Инициализация CAN
bus = Bus(channel=CAN_INTERFACE, bustype='socketcan')
print("CAN шина инициализирована.")
send_target_angle(bus, args.angle)
bus.shutdown()
if __name__ == '__main__':
main()

152
controller/fw/embed/test/send_velocity.py
View file

@ -1,76 +1,76 @@
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()
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()

70
controller/fw/embed/test/send_velocity_impulses.py
View file

@ -1,35 +1,35 @@
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()
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()

248
controller/fw/embed/test/set_id.py
View file

@ -1,124 +1,124 @@
import can
import time
import sys
# Конфигурация
CAN_INTERFACE = 'can0'
OLD_DEVICE_ID = int(sys.argv[1])
NEW_DEVICE_ID = int(sys.argv[2])
REG_WRITE = 0x8
REG_READ = 0x7
REG_ID = 0x1
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 receive_response(bus, timeout=1.0):
"""Ожидание ответа"""
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
return msg
print("[Ошибка] Таймаут")
return None
def validate_crc16(data):
"""Функция расчета CRC16 (MODBUS)"""
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
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
# ======= 1. Отправляем команду изменить ID =======
# Весь буфер: id + команда + параметры
OLD_WITH_REG = (OLD_DEVICE_ID << 4) | REG_WRITE
id_bytes = list(OLD_WITH_REG.to_bytes(2, byteorder='little'))
# Важные части сообщения: address (id), команда, параметры
data_write = [REG_ID, NEW_DEVICE_ID] # команда изменить ID
# Полностью собираем массив для CRC (включая id и команду)
full_data_for_crc = id_bytes + data_write
# Расчет CRC по всему пакету
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
# Итоговый пакет: команда + параметры + CRC
packet_write = data_write + crc_bytes
print("Отправляем: команда изменить ID + CRC:", packet_write)
# Отправляем с `OLD_DEVICE_ID` в качестве адреса
send_can_message(bus, (OLD_DEVICE_ID << 4) | REG_WRITE, packet_write)
time.sleep(1.0)
# ======= 2. Запрашиваем текущий ID (используем новый адрес) =======
# Теперь для запроса используем **уже новый id**
NEW_WITH_REG = (NEW_DEVICE_ID << 4) | REG_READ
current_id_bytes = list(NEW_WITH_REG.to_bytes(2, byteorder='little'))
data_read = [REG_ID, 0x00]
full_data_for_crc = current_id_bytes + data_read
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
packet_read = data_read + crc_bytes
print("Запрос на чтение ID + CRC (после смены):", packet_read)
send_can_message(bus, (NEW_DEVICE_ID << 4) | REG_READ, packet_read)
# ======= 3. Получение и проверка ответа =======
response = receive_response(bus)
if response:
data = response.data
if len(data) < 4:
print("Ответ слишком короткий")
else:
id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
#buff with id and data without CRC
full_data = list(id_bytes) + list(data[:-2])
print(f"Received full_data: {list(full_data)}")
received_crc = int.from_bytes(data[-2:], byteorder='little')
#calc CRC
calc_crc = validate_crc16(full_data)
if received_crc == calc_crc:
if data[0] == ord('I') and data[1] == NEW_DEVICE_ID:
print(f"\nУСПЕХ! ID устройства изменен на 0x{NEW_DEVICE_ID:02X}")
else:
print(f"Некорректный ответ: {list(data)}")
else:
print("CRC не совпадает, данные повреждены.")
else:
print("Нет ответа от устройства.")
bus.shutdown()
if __name__ == "__main__":
import sys
if len(sys.argv) != 3:
print("Использование: python3 can_flasher.py old_addr new addr")
sys.exit(1)
import can
import time
import sys
# Конфигурация
CAN_INTERFACE = 'can0'
OLD_DEVICE_ID = int(sys.argv[1])
NEW_DEVICE_ID = int(sys.argv[2])
REG_WRITE = 0x8
REG_READ = 0x7
REG_ID = 0x1
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 receive_response(bus, timeout=1.0):
"""Ожидание ответа"""
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
return msg
print("[Ошибка] Таймаут")
return None
def validate_crc16(data):
"""Функция расчета CRC16 (MODBUS)"""
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
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
# ======= 1. Отправляем команду изменить ID =======
# Весь буфер: id + команда + параметры
OLD_WITH_REG = (OLD_DEVICE_ID << 4) | REG_WRITE
id_bytes = list(OLD_WITH_REG.to_bytes(2, byteorder='little'))
# Важные части сообщения: address (id), команда, параметры
data_write = [REG_ID, NEW_DEVICE_ID] # команда изменить ID
# Полностью собираем массив для CRC (включая id и команду)
full_data_for_crc = id_bytes + data_write
# Расчет CRC по всему пакету
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
# Итоговый пакет: команда + параметры + CRC
packet_write = data_write + crc_bytes
print("Отправляем: команда изменить ID + CRC:", packet_write)
# Отправляем с `OLD_DEVICE_ID` в качестве адреса
send_can_message(bus, (OLD_DEVICE_ID << 4) | REG_WRITE, packet_write)
time.sleep(1.0)
# ======= 2. Запрашиваем текущий ID (используем новый адрес) =======
# Теперь для запроса используем **уже новый id**
NEW_WITH_REG = (NEW_DEVICE_ID << 4) | REG_READ
current_id_bytes = list(NEW_WITH_REG.to_bytes(2, byteorder='little'))
data_read = [REG_ID, 0x00]
full_data_for_crc = current_id_bytes + data_read
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
packet_read = data_read + crc_bytes
print("Запрос на чтение ID + CRC (после смены):", packet_read)
send_can_message(bus, (NEW_DEVICE_ID << 4) | REG_READ, packet_read)
# ======= 3. Получение и проверка ответа =======
response = receive_response(bus)
if response:
data = response.data
if len(data) < 4:
print("Ответ слишком короткий")
else:
id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
#buff with id and data without CRC
full_data = list(id_bytes) + list(data[:-2])
print(f"Received full_data: {list(full_data)}")
received_crc = int.from_bytes(data[-2:], byteorder='little')
#calc CRC
calc_crc = validate_crc16(full_data)
if received_crc == calc_crc:
if data[0] == ord('I') and data[1] == NEW_DEVICE_ID:
print(f"\nУСПЕХ! ID устройства изменен на 0x{NEW_DEVICE_ID:02X}")
else:
print(f"Некорректный ответ: {list(data)}")
else:
print("CRC не совпадает, данные повреждены.")
else:
print("Нет ответа от устройства.")
bus.shutdown()
if __name__ == "__main__":
import sys
if len(sys.argv) != 3:
print("Использование: python3 can_flasher.py old_addr new addr")
sys.exit(1)

156
controller/fw/embed/test/st-link.py
View file

@ -1,78 +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)
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)

200
controller/fw/embed/test/st-link_full.py
View file

@ -1,100 +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)
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)

96
controller/fw/embed/test/test_simpleFOC.py Normal file
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@ -0,0 +1,96 @@
import can
import time
import sys
import struct
# Конфигурация
CAN_INTERFACE = 'can0'
DEVICE_ID = 0x69 # Текущий ID устройства
REG_READ = 0x7
REG_WRITE = 0x8
DATA_TYPE_ANGLE = 0x03
DATA_TYPE_VELOCITY = 0x04
DATA_TYPE_TORQUE = 0x05
# CRC функция (аналогичная устройству)
def validate_crc16(data):
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_can_message(bus, can_id, data):
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 receive_response(bus, timeout=1.0):
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
return msg
print("[Ошибка] Таймаут")
return None
def test_simplefoc_else_block():
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
# 1. Установка типа данных (DATA_TYPE_ANGLE)
can_id_write = (DEVICE_ID << 4) | REG_WRITE
data_set_type = [DATA_TYPE_ANGLE, 0x00]
full_data = list(can_id_write.to_bytes(2, 'little')) + data_set_type
crc = validate_crc16(full_data)
crc_bytes = list(crc.to_bytes(2, 'little'))
packet = data_set_type + crc_bytes
send_can_message(bus, can_id_write, packet)
time.sleep(0.1) # Ожидание обработки
# 2. Отправка SimpleFOC сообщения (угол)
target_angle = 45.0
angle_bytes = struct.pack('<f', target_angle)
can_id_simplefoc = (DEVICE_ID << 4) | 0x01 # Не REG_READ/REG_WRITE
payload = [0x00] + list(angle_bytes) + [0x00] # [type placeholder, angle, padding]
# Расчет CRC
full_data_sf = list(can_id_simplefoc.to_bytes(2, 'little')) + payload
crc_sf = validate_crc16(full_data_sf)
payload += list(crc_sf.to_bytes(2, 'little'))
# Отправка
print("\nТест SimpleFOC (блок else):")
send_can_message(bus, can_id_simplefoc, payload)
# 3. Проверка ответа (отправка угла + установка нового угла)
response = receive_response(bus)
if response:
# Проверка структуры ответа
if response.data[0] == ord('A'):
print("Успех: Отправлен текущий угол")
else:
print("Ошибка: Неверный тип ответа")
else:
print("Ошибка: Нет ответа от устройства")
# 4. Проверка установки нового угла (интеграционно)
# ... (может требовать дополнительной проверки на устройстве)
bus.shutdown()
if __name__ == "__main__":
test_simplefoc_else_block()

190
controller/fw/embed/test/writePID_angle_parametrs.py
View file

@ -1,95 +1,95 @@
import can
import time
import struct
import sys
# Конфигурация
CAN_INTERFACE = 'can0'
DEVICE_ID = int(sys.argv[1]) # ID ADDR for servo
REG_WRITE = 0x8 # Код команды записи
REG_MOTOR_POSPID_Kp = 0x30
REG_MOTOR_POSPID_Ki = 0x31
REG_MOTOR_POSPID_Kd = 0x32
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
def send_pid_value(bus, device_id, reg, value):
"""Отправка коэффициента PID на устройство"""
# Формируем CAN ID для записи: (device_id << 4) | REG_WRITE
can_id_write = (device_id << 4) | REG_WRITE
# Упаковываем значение в байты (little-endian)
float_bytes = struct.pack('<f', value)
# Формируем часть данных (регистр + значение)
data_part = [reg] + list(float_bytes)
# Полные данные для расчета CRC: CAN ID + данные
full_data_for_crc = list(can_id_write.to_bytes(2, 'little')) + data_part
# 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 данных
can_data = data_part + crc_bytes
# Отправляем сообщение
send_can_message(bus, can_id_write, can_data)
def main():
# Запрос коэффициентов у пользователя
try:
p = float(input("Введите коэффициент P: "))
i = float(input("Введите коэффициент I: "))
d = float(input("Введите коэффициент D: "))
except ValueError:
print("Ошибка: Введите числовые значения.")
return
# Инициализация CAN-интерфейса
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
try:
# Отправка коэффициентов с задержкой
send_pid_value(bus, DEVICE_ID, REG_MOTOR_POSPID_Kp, p)
time.sleep(1)
send_pid_value(bus, DEVICE_ID, REG_MOTOR_POSPID_Ki, i)
time.sleep(1)
send_pid_value(bus, DEVICE_ID, REG_MOTOR_POSPID_Kd, d)
finally:
# Завершение работы с шиной
bus.shutdown()
if __name__ == "__main__":
if len(sys.argv) != 2:
print("Используйте python3 pid_set.py addr")
sys.exit(1)
main()
import can
import time
import struct
import sys
# Конфигурация
CAN_INTERFACE = 'can0'
DEVICE_ID = int(sys.argv[1]) # ID ADDR for servo
REG_WRITE = 0x8 # Код команды записи
REG_MOTOR_POSPID_Kp = 0x30
REG_MOTOR_POSPID_Ki = 0x31
REG_MOTOR_POSPID_Kd = 0x32
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
def send_pid_value(bus, device_id, reg, value):
"""Отправка коэффициента PID на устройство"""
# Формируем CAN ID для записи: (device_id << 4) | REG_WRITE
can_id_write = (device_id << 4) | REG_WRITE
# Упаковываем значение в байты (little-endian)
float_bytes = struct.pack('<f', value)
# Формируем часть данных (регистр + значение)
data_part = [reg] + list(float_bytes)
# Полные данные для расчета CRC: CAN ID + данные
full_data_for_crc = list(can_id_write.to_bytes(2, 'little')) + data_part
# 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 данных
can_data = data_part + crc_bytes
# Отправляем сообщение
send_can_message(bus, can_id_write, can_data)
def main():
# Запрос коэффициентов у пользователя
try:
p = float(input("Введите коэффициент P: "))
i = float(input("Введите коэффициент I: "))
d = float(input("Введите коэффициент D: "))
except ValueError:
print("Ошибка: Введите числовые значения.")
return
# Инициализация CAN-интерфейса
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
try:
# Отправка коэффициентов с задержкой
send_pid_value(bus, DEVICE_ID, REG_MOTOR_POSPID_Kp, p)
time.sleep(1)
send_pid_value(bus, DEVICE_ID, REG_MOTOR_POSPID_Ki, i)
time.sleep(1)
send_pid_value(bus, DEVICE_ID, REG_MOTOR_POSPID_Kd, d)
finally:
# Завершение работы с шиной
bus.shutdown()
if __name__ == "__main__":
if len(sys.argv) != 2:
print("Используйте python3 pid_set.py addr")
sys.exit(1)
main()

244
controller/fw/embed/test/write_pidP.py
View file

@ -1,122 +1,122 @@
import can
import time
import struct
# Конфигурация
CAN_INTERFACE = 'can0'
DEVICE_ID = 0x00
SET_PID_P = 3.6
REG_WRITE = 0x8
REG_READ = 0x7
REG_ID = 0x30 #REG_MOTOR_POSPID_Kp
PID_P = 0x01
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 receive_response(bus, timeout=1.0):
print("Ожидание ответа")
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
return msg
print("[Ошибка] Таймаут")
return None
def validate_crc16(data):
"""Функция расчета CRC16 (MODBUS)"""
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
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
# Перевод float -> hex -> int
result = (struct.unpack('<I',struct.pack('<f', float(SET_PID_P)))[0])
result_bytes = result.to_bytes(4, byteorder='little')
# ======= 1. Отправляем команду изменить ID =======
# Весь буфер: id + команда + параметры
OLD_WITH_REG = (DEVICE_ID << 4) | REG_WRITE
id_bytes = list(OLD_WITH_REG.to_bytes(2, byteorder='little'))
# Важные части сообщения: address (id), команда, параметры
data_write = [REG_ID] + list(result_bytes) # команда изменить PID_P
# Полностью собираем массив для CRC (включая id и команду)
full_data_for_crc = id_bytes + data_write
# Расчет CRC по всему пакету
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
# Итоговый пакет: команда + параметры + CRC
packet_write = data_write + crc_bytes
print("Отправляем: команда изменить PID_p + CRC:", packet_write)
# Отправляем с `OLD_DEVICE_ID` в качестве адреса
send_can_message(bus, (DEVICE_ID << 4) | REG_WRITE, packet_write)
time.sleep(1.0)
# ======= 2. Запрашиваем текущий ID (используем новый адрес) =======
# Теперь для запроса используем **уже новый id**
NEW_WITH_REG = (DEVICE_ID << 4) | REG_READ
current_id_bytes = list(NEW_WITH_REG.to_bytes(2, byteorder='little'))
data_read = [REG_ID, 0x00]
full_data_for_crc = current_id_bytes + data_read
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
packet_read = data_read + crc_bytes
print("Запрос на чтение ID + CRC (после смены):", packet_read)
send_can_message(bus, (DEVICE_ID << 4) | REG_READ, packet_read)
# ======= 3. Получение и проверка ответа =======
response = receive_response(bus)
if response:
data = response.data
if len(data) < 4:
print("Ответ слишком короткий")
else:
id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
#buff with id and data without CRC
full_data = list(id_bytes) + list(data[:-2])
print(f"Received full_data: {list(full_data)}")
received_crc = int.from_bytes(data[-2:], byteorder='little')
#calc CRC
calc_crc = validate_crc16(full_data)
if received_crc == calc_crc:
if data[0] == int(REG_ID):
kp_val = struct.unpack('<f', bytes(data[1:5]))[0]
print(f"\nУСПЕХ! PID_P = {kp_val:.3f}")
else:
print(f"Некорректный ответ: {list(data)}")
else:
print("CRC не совпадает, данные повреждены.")
else:
print("Нет ответа от устройства.")
bus.shutdown()
import can
import time
import struct
# Конфигурация
CAN_INTERFACE = 'can0'
DEVICE_ID = 0x00
SET_PID_P = 3.6
REG_WRITE = 0x8
REG_READ = 0x7
REG_ID = 0x30 #REG_MOTOR_POSPID_Kp
PID_P = 0x01
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 receive_response(bus, timeout=1.0):
print("Ожидание ответа")
start_time = time.time()
while time.time() - start_time < timeout:
msg = bus.recv(timeout=0.1)
if msg:
print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
return msg
print("[Ошибка] Таймаут")
return None
def validate_crc16(data):
"""Функция расчета CRC16 (MODBUS)"""
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
bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
# Перевод float -> hex -> int
result = (struct.unpack('<I',struct.pack('<f', float(SET_PID_P)))[0])
result_bytes = result.to_bytes(4, byteorder='little')
# ======= 1. Отправляем команду изменить ID =======
# Весь буфер: id + команда + параметры
OLD_WITH_REG = (DEVICE_ID << 4) | REG_WRITE
id_bytes = list(OLD_WITH_REG.to_bytes(2, byteorder='little'))
# Важные части сообщения: address (id), команда, параметры
data_write = [REG_ID] + list(result_bytes) # команда изменить PID_P
# Полностью собираем массив для CRC (включая id и команду)
full_data_for_crc = id_bytes + data_write
# Расчет CRC по всему пакету
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
# Итоговый пакет: команда + параметры + CRC
packet_write = data_write + crc_bytes
print("Отправляем: команда изменить PID_p + CRC:", packet_write)
# Отправляем с `OLD_DEVICE_ID` в качестве адреса
send_can_message(bus, (DEVICE_ID << 4) | REG_WRITE, packet_write)
time.sleep(1.0)
# ======= 2. Запрашиваем текущий ID (используем новый адрес) =======
# Теперь для запроса используем **уже новый id**
NEW_WITH_REG = (DEVICE_ID << 4) | REG_READ
current_id_bytes = list(NEW_WITH_REG.to_bytes(2, byteorder='little'))
data_read = [REG_ID, 0x00]
full_data_for_crc = current_id_bytes + data_read
crc = validate_crc16(full_data_for_crc)
crc_bytes = list(crc.to_bytes(2, byteorder='little'))
packet_read = data_read + crc_bytes
print("Запрос на чтение ID + CRC (после смены):", packet_read)
send_can_message(bus, (DEVICE_ID << 4) | REG_READ, packet_read)
# ======= 3. Получение и проверка ответа =======
response = receive_response(bus)
if response:
data = response.data
if len(data) < 4:
print("Ответ слишком короткий")
else:
id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
#buff with id and data without CRC
full_data = list(id_bytes) + list(data[:-2])
print(f"Received full_data: {list(full_data)}")
received_crc = int.from_bytes(data[-2:], byteorder='little')
#calc CRC
calc_crc = validate_crc16(full_data)
if received_crc == calc_crc:
if data[0] == int(REG_ID):
kp_val = struct.unpack('<f', bytes(data[1:5]))[0]
print(f"\nУСПЕХ! PID_P = {kp_val:.3f}")
else:
print(f"Некорректный ответ: {list(data)}")
else:
print("CRC не совпадает, данные повреждены.")
else:
print("Нет ответа от устройства.")
bus.shutdown()

8
controller/fw/test/bring_up_can.sh
View file

@ -1,4 +1,4 @@
#!/bin/bash
ip link set can0 type can bitrate 1000000
ip link set up can0
#!/bin/bash
ip link set can0 type can bitrate 1000000
ip link set up can0

68
controller/fw/test/send_can.sh
View file

@ -1,34 +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
#!/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

58
controller/fw/test/test_driver.sh
View file

@ -1,30 +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
/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

1050
controller/hw/motor_controller_50mm-rescue.kicad_sym
View file

File diff suppressed because it is too large Load diff

59832
controller/hw/motor_controller_50mm.kicad_pcb
View file

File diff suppressed because it is too large Load diff

172
controller/hw/motor_controller_50mm.kicad_prl
View file

@ -1,86 +1,86 @@
{
"board": {
"active_layer": 36,
"active_layer_preset": "",
"auto_track_width": true,
"hidden_netclasses": [],
"hidden_nets": [],
"high_contrast_mode": 0,
"net_color_mode": 1,
"opacity": {
"images": 0.6,
"pads": 1.0,
"tracks": 1.0,
"vias": 1.0,
"zones": 0.6
},
"selection_filter": {
"dimensions": true,
"footprints": true,
"graphics": true,
"keepouts": true,
"lockedItems": false,
"otherItems": true,
"pads": true,
"text": true,
"tracks": true,
"vias": true,
"zones": true
},
"visible_items": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
32,
33,
34,
35,
36,
39,
40
],
"visible_layers": "0001010_00000001",
"zone_display_mode": 0
},
"git": {
"repo_password": "",
"repo_type": "",
"repo_username": "",
"ssh_key": ""
},
"meta": {
"filename": "motor_controller_50mm.kicad_prl",
"version": 3
},
"project": {
"files": []
}
}
{
"board": {
"active_layer": 36,
"active_layer_preset": "",
"auto_track_width": true,
"hidden_netclasses": [],
"hidden_nets": [],
"high_contrast_mode": 0,
"net_color_mode": 1,
"opacity": {
"images": 0.6,
"pads": 1.0,
"tracks": 1.0,
"vias": 1.0,
"zones": 0.6
},
"selection_filter": {
"dimensions": true,
"footprints": true,
"graphics": true,
"keepouts": true,
"lockedItems": false,
"otherItems": true,
"pads": true,
"text": true,
"tracks": true,
"vias": true,
"zones": true
},
"visible_items": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
32,
33,
34,
35,
36,
39,
40
],
"visible_layers": "0001010_00000001",
"zone_display_mode": 0
},
"git": {
"repo_password": "",
"repo_type": "",
"repo_username": "",
"ssh_key": ""
},
"meta": {
"filename": "motor_controller_50mm.kicad_prl",
"version": 3
},
"project": {
"files": []
}
}

1942
controller/hw/motor_controller_50mm.kicad_pro
View file

File diff suppressed because it is too large Load diff

45102
controller/hw/motor_controller_50mm.kicad_sch
View file

File diff suppressed because it is too large Load diff

8
controller/hw/sym-lib-table
View file

@ -1,4 +1,4 @@
(sym_lib_table
(version 7)
(lib (name "motor_controller_50mm-rescue")(type "KiCad")(uri "${KIPRJMOD}/motor_controller_50mm-rescue.kicad_sym")(options "")(descr ""))
)
(sym_lib_table
(version 7)
(lib (name "motor_controller_50mm-rescue")(type "KiCad")(uri "${KIPRJMOD}/motor_controller_50mm-rescue.kicad_sym")(options "")(descr ""))
)

572
kicad_ci_test.kiplot.yaml
View file

@ -1,286 +1,286 @@
# Example Kibot config file
kibot:
version: 1
preflight:
run_erc: true
update_xml: true
run_drc: true
check_zone_fills: false
ignore_unconnected: true
global:
# We want the revision added to the names for this project
output: '%f-%i_%r.%x'
hide_excluded: true
# kiauto_wait_start: 60
# kiauto_time_out_scale: 2
outputs:
- name: 'print_sch'
comment: "Print schematic (PDF)"
type: pdf_sch_print
dir: .
options:
output: Schematic.pdf
- name: 'print_front'
comment: "Print F.Cu+Dwgs.User"
type: pdf_pcb_print
dir: .
options:
output_name: PCB_Top.pdf
layers:
- layer: B.Cu
- layer: F.SilkS
- name: 'print_bottom'
comment: "Print B.Cu+Dwgs.User"
type: pdf_pcb_print
dir: .
layers:
- layer: B.Cu
- layer: Dwgs.User
- name: 'gerbers'
comment: "Gerbers for the board house"
type: gerber
dir: Gerbers
options:
# generic layer options
exclude_edge_layer: true
exclude_pads_from_silkscreen: false
use_aux_axis_as_origin: false
plot_sheet_reference: false
plot_footprint_refs: true
plot_footprint_values: true
force_plot_invisible_refs_vals: false
tent_vias: true
# gerber options
line_width: 0.1
subtract_mask_from_silk: false
use_protel_extensions: false
gerber_precision: 4.6
create_gerber_job_file: true
use_gerber_x2_attributes: true
use_gerber_net_attributes: true
layers:
- 'selected'
# - layer: B.Cu
# suffix: B_Cu
# - layer: F.SilkS
# suffix: F_SilkS
# - layer: Edge.Cuts
# suffix: Edge_Cuts
- name: 'interactive_bom'
comment: "Interactive Bill of Materials (HTML)"
type: ibom
dir: BoM
options:
hide_excluded: true
blacklist: 'DNF*'
name_format: '%f_%r_iBoM'
- name: 'bom_html'
comment: "Bill of Materials in HTML format"
type: bom
dir: BoM
options:
format: HTML # HTML or CSV
- name: 'bom_csv'
comment: "Bill of Materials in CSV format"
type: bom
dir: BoM
options:
format: CSV # HTML or CSV
ref_separator: ','
normalize_values: true
normalize_locale: true
csv: # Hide Project Info & Statistics for PCB manufacturer file processing
hide_pcb_info: true
hide_stats_info: true
columns:
- Row
- field: manf#
name: Manufacturer Part Number
- field: 'Quantity Per PCB'
name: Qty
- field: References
name: Designator
- Part
- Value
- Footprint
- Description
- Datasheet
- name: 'bom_xlsx'
comment: "Bill of Materials in XLSX format"
type: bom
dir: BoM
options:
format: XLSX
- name: excellon_drill
comment: "Excellon drill files"
type: excellon
dir: Drill
options:
metric_units: false
pth_and_npth_single_file: false
use_aux_axis_as_origin: false
minimal_header: false
mirror_y_axis: false
report:
filename: 'spora-drl.rpt'
map:
type: 'pdf'
- name: gerber_drills
comment: "Gerber drill files"
type: gerb_drill
dir: Drill
options:
use_aux_axis_as_origin: false
- name: 'position'
comment: "Pick and place file"
type: position
dir: Position
options:
format: ASCII # CSV or ASCII format
units: millimeters # millimeters or inches
separate_files_for_front_and_back: true
only_smd: true
- name: pcb_top_g
comment: "PCB render top green"
type: pcbdraw
dir: PCB/green
options:
format: jpg
show_components: none
dpi: 600
- name: pcb_bot_g
comment: "PCB render bottom green"
type: pcbdraw
dir: PCB/green
options:
format: jpg
bottom: True
show_components: none
dpi: 600
- name: pcb_top_b
comment: "PCB render top blue"
type: pcbdraw
dir: PCB/blue
options:
format: jpg
style: set-blue-enig
show_components: none
dpi: 600
- name: pcb_bot_b
comment: "PCB render bottom blue"
type: pcbdraw
dir: PCB/blue
options:
format: jpg
style: set-blue-enig
bottom: True
show_components: none
dpi: 600
- name: pcb_top_r
comment: "PCB render top red"
type: pcbdraw
dir: PCB/red
options:
format: jpg
style: set-red-enig
show_components: none
dpi: 600
- name: pcb_bot_r
comment: "PCB render bottom red"
type: pcbdraw
dir: PCB/red
options:
format: jpg
style: set-red-enig
bottom: True
show_components: none
dpi: 600
- name: step
comment: "Generate 3D model (STEP)"
type: step
dir: 3D
options:
metric_units: true
origin: 85,66.2
# Gerber and drill files for PCBWay, with stencil (solder paste)
# URL: https://www.pcbway.com
# Based on setting used by Gerber Zipper (https://github.com/g200kg/kicad-gerberzipper)
- name: PCBWay_gerbers
comment: Gerbers compatible with PCBWay
type: gerber
dir: PCBWay
options: &gerber_options
exclude_edge_layer: true
exclude_pads_from_silkscreen: true
plot_sheet_reference: false
plot_footprint_refs: true
plot_footprint_values: true
force_plot_invisible_refs_vals: false
tent_vias: true
use_protel_extensions: true
create_gerber_job_file: false
output: "%f.%x"
gerber_precision: 4.6
use_gerber_x2_attributes: false
use_gerber_net_attributes: false
disable_aperture_macros: true
line_width: 0.1
subtract_mask_from_silk: false
inner_extension_pattern: '.gl%N'
layers:
- 'selected'
- name: PCBWay_drill
comment: Drill files compatible with PCBWay
type: excellon
dir: PCBWay
options:
metric_units: false
minimal_header: true
zeros_format: SUPPRESS_LEADING
# left_digits: 3
# right_digits: 3
# See https://github.com/INTI-CMNB/kicad-ci-test-spora/issues/1
# and https://docs.oshpark.com/design-tools/gerbv/fix-drill-format/
left_digits: 2
right_digits: 4
pth_and_npth_single_file: false
pth_id: ''
npth_id: '-NPTH'
output: "%f%i.drl"
- name: PCBWay
comment: ZIP file for PCBWay
type: compress
dir: PCBWay
options:
format: ZIP
files:
- from_output: PCBWay_gerbers
dest: /
- from_output: PCBWay_drill
dest: /
# Example Kibot config file
kibot:
version: 1
preflight:
run_erc: true
update_xml: true
run_drc: true
check_zone_fills: false
ignore_unconnected: true
global:
# We want the revision added to the names for this project
output: '%f-%i_%r.%x'
hide_excluded: true
# kiauto_wait_start: 60
# kiauto_time_out_scale: 2
outputs:
- name: 'print_sch'
comment: "Print schematic (PDF)"
type: pdf_sch_print
dir: .
options:
output: Schematic.pdf
- name: 'print_front'
comment: "Print F.Cu+Dwgs.User"
type: pdf_pcb_print
dir: .
options:
output_name: PCB_Top.pdf
layers:
- layer: B.Cu
- layer: F.SilkS
- name: 'print_bottom'
comment: "Print B.Cu+Dwgs.User"
type: pdf_pcb_print
dir: .
layers:
- layer: B.Cu
- layer: Dwgs.User
- name: 'gerbers'
comment: "Gerbers for the board house"
type: gerber
dir: Gerbers
options:
# generic layer options
exclude_edge_layer: true
exclude_pads_from_silkscreen: false
use_aux_axis_as_origin: false
plot_sheet_reference: false
plot_footprint_refs: true
plot_footprint_values: true
force_plot_invisible_refs_vals: false
tent_vias: true
# gerber options
line_width: 0.1
subtract_mask_from_silk: false
use_protel_extensions: false
gerber_precision: 4.6
create_gerber_job_file: true
use_gerber_x2_attributes: true
use_gerber_net_attributes: true
layers:
- 'selected'
# - layer: B.Cu
# suffix: B_Cu
# - layer: F.SilkS
# suffix: F_SilkS
# - layer: Edge.Cuts
# suffix: Edge_Cuts
- name: 'interactive_bom'
comment: "Interactive Bill of Materials (HTML)"
type: ibom
dir: BoM
options:
hide_excluded: true
blacklist: 'DNF*'
name_format: '%f_%r_iBoM'
- name: 'bom_html'
comment: "Bill of Materials in HTML format"
type: bom
dir: BoM
options:
format: HTML # HTML or CSV
- name: 'bom_csv'
comment: "Bill of Materials in CSV format"
type: bom
dir: BoM
options:
format: CSV # HTML or CSV
ref_separator: ','
normalize_values: true
normalize_locale: true
csv: # Hide Project Info & Statistics for PCB manufacturer file processing
hide_pcb_info: true
hide_stats_info: true
columns:
- Row
- field: manf#
name: Manufacturer Part Number
- field: 'Quantity Per PCB'
name: Qty
- field: References
name: Designator
- Part
- Value
- Footprint
- Description
- Datasheet
- name: 'bom_xlsx'
comment: "Bill of Materials in XLSX format"
type: bom
dir: BoM
options:
format: XLSX
- name: excellon_drill
comment: "Excellon drill files"
type: excellon
dir: Drill
options:
metric_units: false
pth_and_npth_single_file: false
use_aux_axis_as_origin: false
minimal_header: false
mirror_y_axis: false
report:
filename: 'spora-drl.rpt'
map:
type: 'pdf'
- name: gerber_drills
comment: "Gerber drill files"
type: gerb_drill
dir: Drill
options:
use_aux_axis_as_origin: false
- name: 'position'
comment: "Pick and place file"
type: position
dir: Position
options:
format: ASCII # CSV or ASCII format
units: millimeters # millimeters or inches
separate_files_for_front_and_back: true
only_smd: true
- name: pcb_top_g
comment: "PCB render top green"
type: pcbdraw
dir: PCB/green
options:
format: jpg
show_components: none
dpi: 600
- name: pcb_bot_g
comment: "PCB render bottom green"
type: pcbdraw
dir: PCB/green
options:
format: jpg
bottom: True
show_components: none
dpi: 600
- name: pcb_top_b
comment: "PCB render top blue"
type: pcbdraw
dir: PCB/blue
options:
format: jpg
style: set-blue-enig
show_components: none
dpi: 600
- name: pcb_bot_b
comment: "PCB render bottom blue"
type: pcbdraw
dir: PCB/blue
options:
format: jpg
style: set-blue-enig
bottom: True
show_components: none
dpi: 600
- name: pcb_top_r
comment: "PCB render top red"
type: pcbdraw
dir: PCB/red
options:
format: jpg
style: set-red-enig
show_components: none
dpi: 600
- name: pcb_bot_r
comment: "PCB render bottom red"
type: pcbdraw
dir: PCB/red
options:
format: jpg
style: set-red-enig
bottom: True
show_components: none
dpi: 600
- name: step
comment: "Generate 3D model (STEP)"
type: step
dir: 3D
options:
metric_units: true
origin: 85,66.2
# Gerber and drill files for PCBWay, with stencil (solder paste)
# URL: https://www.pcbway.com
# Based on setting used by Gerber Zipper (https://github.com/g200kg/kicad-gerberzipper)
- name: PCBWay_gerbers
comment: Gerbers compatible with PCBWay
type: gerber
dir: PCBWay
options: &gerber_options
exclude_edge_layer: true
exclude_pads_from_silkscreen: true
plot_sheet_reference: false
plot_footprint_refs: true
plot_footprint_values: true
force_plot_invisible_refs_vals: false
tent_vias: true
use_protel_extensions: true
create_gerber_job_file: false
output: "%f.%x"
gerber_precision: 4.6
use_gerber_x2_attributes: false
use_gerber_net_attributes: false
disable_aperture_macros: true
line_width: 0.1
subtract_mask_from_silk: false
inner_extension_pattern: '.gl%N'
layers:
- 'selected'
- name: PCBWay_drill
comment: Drill files compatible with PCBWay
type: excellon
dir: PCBWay
options:
metric_units: false
minimal_header: true
zeros_format: SUPPRESS_LEADING
# left_digits: 3
# right_digits: 3
# See https://github.com/INTI-CMNB/kicad-ci-test-spora/issues/1
# and https://docs.oshpark.com/design-tools/gerbv/fix-drill-format/
left_digits: 2
right_digits: 4
pth_and_npth_single_file: false
pth_id: ''
npth_id: '-NPTH'
output: "%f%i.drl"
- name: PCBWay
comment: ZIP file for PCBWay
type: compress
dir: PCBWay
options:
format: ZIP
files:
- from_output: PCBWay_gerbers
dest: /
- from_output: PCBWay_drill
dest: /

38
motor/README.md
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@ -1,19 +1,19 @@
## Описание директорий и файлов
```[motor]
├── parts/ # Детали моторов
│ ├── 53mm/ # Детали для 53мм мотора с пластиковым ротором
│ ├── 53mm_metal/ # Детали для 53мм мотора с металлическим ротором
│ ├── 72mm/ # Детали для 72мм мотора с пластиковым ротором
│ ├── 72mm_metal/ # Детали для 72мм мотора с металлическим ротором
│ ├── magnetic_parts_dxf/ # Файлы для лазерной резки деталей металлических статоров
│ └── сommon_parts/ # Детали общие для разных моторов
├── _asm_53mm_metall_motor.SLDASM # Сборка мотора 53мм с металлическим ротором
├── _asm_53mm_motor.SLDASM # Сборка мотора 53мм с пластиковым ротором
├── _asm_72mm_metall_motor.SLDASM # Сборка мотора 72мм с металлическим ротором
└── _asm_72mm_motor.SLDASM # Сборка мотора 72мм с пластиковым ротором
```
Важно, что каждая сборка использует файлы из разных папок.
Поэтому, для открытия, необходимо скачать все папки.
## Описание директорий и файлов
```[motor]
├── parts/ # Детали моторов
│ ├── 53mm/ # Детали для 53мм мотора с пластиковым ротором
│ ├── 53mm_metal/ # Детали для 53мм мотора с металлическим ротором
│ ├── 72mm/ # Детали для 72мм мотора с пластиковым ротором
│ ├── 72mm_metal/ # Детали для 72мм мотора с металлическим ротором
│ ├── magnetic_parts_dxf/ # Файлы для лазерной резки деталей металлических статоров
│ └── сommon_parts/ # Детали общие для разных моторов
├── _asm_53mm_metall_motor.SLDASM # Сборка мотора 53мм с металлическим ротором
├── _asm_53mm_motor.SLDASM # Сборка мотора 53мм с пластиковым ротором
├── _asm_72mm_metall_motor.SLDASM # Сборка мотора 72мм с металлическим ротором
└── _asm_72mm_motor.SLDASM # Сборка мотора 72мм с пластиковым ротором
```
Важно, что каждая сборка использует файлы из разных папок.
Поэтому, для открытия, необходимо скачать все папки.

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motor/parts/72mm/asm_motor_new_230919.STEP
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68794
motor/parts/China_kit_4310h/WK4310_20230713.STEP
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motor/parts/magnetic_parts_dxf/12n_stator magnetic plate.DXF
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motor/parts/magnetic_parts_dxf/24p_stator magnetic plate.DXF
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reducer/PREC_OLD/test_asm.STEP
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reducer/Precessing_Reducer/asm_precessing_reducer.STEP
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12
reducer/README.md
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@ -1,6 +1,6 @@
# Модели редукторов для двигателя
```[reducer]
├── PREC/ # Прецессирующий редуктор
└── WAVE/ # Волновой редуктор с телами промежуточного качения
```
# Модели редукторов для двигателя
```[reducer]
├── PREC/ # Прецессирующий редуктор
└── WAVE/ # Волновой редуктор с телами промежуточного качения
```

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reducer/STEP_OLD/gear2_240912.STEP
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reducer/STEP_OLD/my_gear3_240912.STEP
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684
reducer/STEP_OLD/spacer_241007.STEP
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@ -1,342 +1,342 @@
ISO-10303-21;
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reducer/STEP_OLD/support_gear.STEP
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reducer/WAVE_OLD/asm_motor_reductor_240703.STEP
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