README.md

@@ -21,11 +21,21 @@
 
 ## Описание директорий
 
-- `brd` - KiCAD проект печатной платы контроллера
-- `firmware` - исходный код программы для микроконтроллера, инструкция по сборке и загрузке прошивки в `firmware/embed`, тесты для проверки встроенного ПО в `firmware/test`
-- `ros2_environment` - пакеты для управления мотором из ROS 2 с помощью ros2_control
-- `src` - 3D-модели вариантов исполнения мотора: 50 мм, 70 мм, металлическая версия двигателя (не интегрирована с контроллером), также присутствуют две модели редукторов
-- `tools` - вспомогательное оборудование для тестирования, испытаний
+```[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
 

brd/motor_controller_50mm-cache.lib

@@ -1,547 +0,0 @@
-EESchema-LIBRARY Version 2.4
-#encoding utf-8
-#
-# Amplifier_Current_INA194
-#
-DEF Amplifier_Current_INA194 U 0 5 Y Y 1 F N
-F0 "U" 150 150 50 H V C CNN
-F1 "Amplifier_Current_INA194" 150 -150 50 H V C CNN
-F2 "Package_TO_SOT_SMD:SOT-23-5" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-ALIAS INA194 INA195
-$FPLIST
- SOT?23*
-$ENDFPLIST
-DRAW
-P 4 0 1 10 200 0 -200 200 -200 -200 200 0 f
-X ~ 1 300 0 100 L 50 50 1 1 O
-X GND 2 -100 -300 150 U 50 50 1 1 W
-X + 3 -300 100 100 R 50 50 1 1 I
-X - 4 -300 -100 100 R 50 50 1 1 I
-X V+ 5 -100 300 150 D 50 50 1 1 W
-ENDDRAW
-ENDDEF
-#
-# Connector_Generic_Conn_02x05_Counter_Clockwise
-#
-DEF Connector_Generic_Conn_02x05_Counter_Clockwise J 0 40 Y N 1 F N
-F0 "J" 50 300 50 H V C CNN
-F1 "Connector_Generic_Conn_02x05_Counter_Clockwise" 50 -300 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- Connector*:*_2x??_*
-$ENDFPLIST
-DRAW
-S -50 -195 0 -205 1 1 6 N
-S -50 -95 0 -105 1 1 6 N
-S -50 5 0 -5 1 1 6 N
-S -50 105 0 95 1 1 6 N
-S -50 205 0 195 1 1 6 N
-S -50 250 150 -250 1 1 10 f
-S 150 -195 100 -205 1 1 6 N
-S 150 -95 100 -105 1 1 6 N
-S 150 5 100 -5 1 1 6 N
-S 150 105 100 95 1 1 6 N
-S 150 205 100 195 1 1 6 N
-X Pin_1 1 -200 200 150 R 50 50 1 1 P
-X Pin_10 10 300 200 150 L 50 50 1 1 P
-X Pin_2 2 -200 100 150 R 50 50 1 1 P
-X Pin_3 3 -200 0 150 R 50 50 1 1 P
-X Pin_4 4 -200 -100 150 R 50 50 1 1 P
-X Pin_5 5 -200 -200 150 R 50 50 1 1 P
-X Pin_6 6 300 -200 150 L 50 50 1 1 P
-X Pin_7 7 300 -100 150 L 50 50 1 1 P
-X Pin_8 8 300 0 150 L 50 50 1 1 P
-X Pin_9 9 300 100 150 L 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Connector_Generic_Conn_02x08_Odd_Even
-#
-DEF Connector_Generic_Conn_02x08_Odd_Even J 0 40 Y N 1 F N
-F0 "J" 50 400 50 H V C CNN
-F1 "Connector_Generic_Conn_02x08_Odd_Even" 50 -500 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- Connector*:*_2x??_*
-$ENDFPLIST
-DRAW
-S -50 -395 0 -405 1 1 6 N
-S -50 -295 0 -305 1 1 6 N
-S -50 -195 0 -205 1 1 6 N
-S -50 -95 0 -105 1 1 6 N
-S -50 5 0 -5 1 1 6 N
-S -50 105 0 95 1 1 6 N
-S -50 205 0 195 1 1 6 N
-S -50 305 0 295 1 1 6 N
-S -50 350 150 -450 1 1 10 f
-S 150 -395 100 -405 1 1 6 N
-S 150 -295 100 -305 1 1 6 N
-S 150 -195 100 -205 1 1 6 N
-S 150 -95 100 -105 1 1 6 N
-S 150 5 100 -5 1 1 6 N
-S 150 105 100 95 1 1 6 N
-S 150 205 100 195 1 1 6 N
-S 150 305 100 295 1 1 6 N
-X Pin_1 1 -200 300 150 R 50 50 1 1 P
-X Pin_10 10 300 -100 150 L 50 50 1 1 P
-X Pin_11 11 -200 -200 150 R 50 50 1 1 P
-X Pin_12 12 300 -200 150 L 50 50 1 1 P
-X Pin_13 13 -200 -300 150 R 50 50 1 1 P
-X Pin_14 14 300 -300 150 L 50 50 1 1 P
-X Pin_15 15 -200 -400 150 R 50 50 1 1 P
-X Pin_16 16 300 -400 150 L 50 50 1 1 P
-X Pin_2 2 300 300 150 L 50 50 1 1 P
-X Pin_3 3 -200 200 150 R 50 50 1 1 P
-X Pin_4 4 300 200 150 L 50 50 1 1 P
-X Pin_5 5 -200 100 150 R 50 50 1 1 P
-X Pin_6 6 300 100 150 L 50 50 1 1 P
-X Pin_7 7 -200 0 150 R 50 50 1 1 P
-X Pin_8 8 300 0 150 L 50 50 1 1 P
-X Pin_9 9 -200 -100 150 R 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Device_C
-#
-DEF Device_C C 0 10 N Y 1 F N
-F0 "C" 25 100 50 H V L CNN
-F1 "Device_C" 25 -100 50 H V L CNN
-F2 "" 38 -150 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- C_*
-$ENDFPLIST
-DRAW
-P 2 0 1 20 -80 -30 80 -30 N
-P 2 0 1 20 -80 30 80 30 N
-X ~ 1 0 150 110 D 50 50 1 1 P
-X ~ 2 0 -150 110 U 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Device_C_Small
-#
-DEF Device_C_Small C 0 10 N N 1 F N
-F0 "C" 10 70 50 H V L CNN
-F1 "Device_C_Small" 10 -80 50 H V L CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- C_*
-$ENDFPLIST
-DRAW
-P 2 0 1 13 -60 -20 60 -20 N
-P 2 0 1 12 -60 20 60 20 N
-X ~ 1 0 100 80 D 50 50 1 1 P
-X ~ 2 0 -100 80 U 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Device_L
-#
-DEF Device_L L 0 40 N N 1 F N
-F0 "L" -50 0 50 V V C CNN
-F1 "Device_L" 75 0 50 V V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- Choke_*
- *Coil*
- Inductor_*
- L_*
-$ENDFPLIST
-DRAW
-A 0 -75 25 -899 899 0 1 0 N 0 -100 0 -50
-A 0 -25 25 -899 899 0 1 0 N 0 -50 0 0
-A 0 25 25 -899 899 0 1 0 N 0 0 0 50
-A 0 75 25 -899 899 0 1 0 N 0 50 0 100
-X 1 1 0 150 50 D 50 50 1 1 P
-X 2 2 0 -150 50 U 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Device_LED
-#
-DEF Device_LED D 0 40 N N 1 F N
-F0 "D" 0 100 50 H V C CNN
-F1 "Device_LED" 0 -100 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- LED*
- LED_SMD:*
- LED_THT:*
-$ENDFPLIST
-DRAW
-P 2 0 1 10 -50 -50 -50 50 N
-P 2 0 1 0 -50 0 50 0 N
-P 4 0 1 10 50 -50 50 50 -50 0 50 -50 N
-P 5 0 1 0 -120 -30 -180 -90 -150 -90 -180 -90 -180 -60 N
-P 5 0 1 0 -70 -30 -130 -90 -100 -90 -130 -90 -130 -60 N
-X K 1 -150 0 100 R 50 50 1 1 P
-X A 2 150 0 100 L 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Device_R
-#
-DEF Device_R R 0 0 N Y 1 F N
-F0 "R" 80 0 50 V V C CNN
-F1 "Device_R" 0 0 50 V V C CNN
-F2 "" -70 0 50 V I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- R_*
-$ENDFPLIST
-DRAW
-S -40 -100 40 100 0 1 10 N
-X ~ 1 0 150 50 D 50 50 1 1 P
-X ~ 2 0 -150 50 U 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Device_Thermistor_NTC
-#
-DEF Device_Thermistor_NTC TH 0 0 N Y 1 F N
-F0 "TH" -175 0 50 V V C CNN
-F1 "Device_Thermistor_NTC" 125 0 50 V V C CNN
-F2 "" 0 50 50 H I C CNN
-F3 "" 0 50 50 H I C CNN
-$FPLIST
- *NTC*
- *Thermistor*
- PIN?ARRAY*
- bornier*
- *Terminal?Block*
- R_*
-$ENDFPLIST
-DRAW
-A -126 88 7 -265 818 0 1 0 N -120 85 -125 95
-A -110 85 10 1800 -900 0 1 0 N -120 85 -110 75
-A -110 85 10 -900 0 0 1 0 N -110 75 -100 85
-A -110 110 10 0 900 0 1 0 N -100 110 -110 120
-A -110 110 10 900 1800 0 1 0 N -110 120 -120 110
-A -110 110 10 1800 -900 0 1 0 N -120 110 -110 100
-A -104 119 20 -1075 -253 0 1 0 N -110 100 -85 110
-S -40 100 40 -100 0 1 10 N
-P 2 0 1 0 -100 85 -100 110 N
-P 4 0 1 0 -70 100 -70 60 70 -60 70 -100 N
-P 6 0 1 0 -100 -145 -100 -55 -110 -85 -90 -85 -100 -55 -100 -65 F
-P 6 0 1 0 -70 -55 -70 -145 -80 -115 -60 -115 -70 -145 -70 -135 F
-X ~ 1 0 150 50 D 50 50 1 1 P
-X ~ 2 0 -150 50 U 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Diode_1N5818
-#
-DEF Diode_1N5818 D 0 40 N N 1 F N
-F0 "D" 0 100 50 H V C CNN
-F1 "Diode_1N5818" 0 -100 50 H V C CNN
-F2 "Diode_THT:D_DO-41_SOD81_P10.16mm_Horizontal" 0 -175 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-ALIAS SB130 SB140 SB150 SB160 1N5817 1N5818 1N5819
-$FPLIST
- D*DO?41*
-$ENDFPLIST
-DRAW
-P 2 0 1 0 50 0 -50 0 N
-P 4 0 1 10 50 50 50 -50 -50 0 50 50 N
-P 6 0 1 10 -75 25 -75 50 -50 50 -50 -50 -25 -50 -25 -25 N
-X K 1 -150 0 100 R 50 50 1 1 P
-X A 2 150 0 100 L 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Driver_Motor_drv8313
-#
-DEF Driver_Motor_drv8313 U 0 40 Y Y 1 F N
-F0 "U" -300 50 50 H V C CNN
-F1 "Driver_Motor_drv8313" 200 50 50 H V C CNN
-F2 "" -700 0 50 H I C CNN
-F3 "" -700 0 50 H I C CNN
-DRAW
-S -450 -50 350 -1550 0 1 0 f
-X cpl 1 -550 -150 100 R 50 50 1 1 I
-X pgnd3 10 -550 -1050 100 R 50 50 1 1 I
-X vm 11 -550 -1150 100 R 50 50 1 1 I
-X compp 12 -550 -1250 100 R 50 50 1 1 I
-X compn 13 -550 -1350 100 R 50 50 1 1 I
-X gnd 14 -550 -1450 100 R 50 50 1 1 W
-X v3p3 15 450 -1450 100 L 50 50 1 1 w
-X nReset 16 450 -1350 100 L 50 50 1 1 I
-X nSleep 17 450 -1250 100 L 50 50 1 1 I
-X nFault 18 450 -1150 100 L 50 50 1 1 O
-X nCompo 19 450 -1050 100 L 50 50 1 1 I
-X cph 2 -550 -250 100 R 50 50 1 1 I
-X gnd 20 450 -950 100 L 50 50 1 1 W
-X nc 21 450 -850 100 L 50 50 1 1 I
-X en3 22 450 -750 100 L 50 50 1 1 I
-X in3 23 450 -650 100 L 50 50 1 1 I
-X en2 24 450 -550 100 L 50 50 1 1 I
-X in2 25 450 -450 100 L 50 50 1 1 I
-X en1 26 450 -350 100 L 50 50 1 1 I
-X in1 27 450 -250 100 L 50 50 1 1 I
-X gnd 28 450 -150 100 L 50 50 1 1 W
-X vcp 3 -550 -350 100 R 50 50 1 1 I
-X vm 4 -550 -450 100 R 50 50 1 1 I
-X out1 5 -550 -550 100 R 50 50 1 1 O
-X pgnd1 6 -550 -650 100 R 50 50 1 1 I
-X pgnd2 7 -550 -750 100 R 50 50 1 1 I
-X out2 8 -550 -850 100 R 50 50 1 1 O
-X out3 9 -550 -950 100 R 50 50 1 1 O
-ENDDRAW
-ENDDEF
-#
-# Interface_CAN_LIN_SN65HVD235
-#
-DEF Interface_CAN_LIN_SN65HVD235 U 0 40 Y Y 1 F N
-F0 "U" -100 400 50 H V R CNN
-F1 "Interface_CAN_LIN_SN65HVD235" -100 300 50 H V R CNN
-F2 "Package_SO:SOIC-8_3.9x4.9mm_P1.27mm" 0 -500 50 H I C CNN
-F3 "" -100 400 50 H I C CNN
-$FPLIST
- SOIC*3.9x4.9mm*P1.27mm*
-$ENDFPLIST
-DRAW
-S -300 200 300 -300 0 1 10 f
-X D 1 -400 100 100 R 50 50 1 1 I
-X GND 2 0 -400 100 U 50 50 1 1 W
-X VCC 3 0 300 100 D 50 50 1 1 W
-X R 4 -400 0 100 R 50 50 1 1 O
-X AB 5 -400 -100 100 R 50 50 1 1 I
-X CANL 6 400 -100 100 L 50 50 1 1 B
-X CANH 7 400 0 100 L 50 50 1 1 B
-X Rs 8 -400 -200 100 R 50 50 1 1 I
-ENDDRAW
-ENDDEF
-#
-# MCU_ST_STM32F4_STM32F446RETx
-#
-DEF MCU_ST_STM32F4_STM32F446RETx U 0 20 Y Y 1 F N
-F0 "U" -600 1650 50 H V L CNN
-F1 "MCU_ST_STM32F4_STM32F446RETx" 400 1650 50 H V L CNN
-F2 "Package_QFP:LQFP-64_10x10mm_P0.5mm" -600 -1700 50 H I R CNN
-F3 "" 0 0 50 H I C CNN
-ALIAS STM32F446RETx
-$FPLIST
- LQFP*10x10mm*P0.5mm*
-$ENDFPLIST
-DRAW
-S -600 -1700 600 1600 0 1 10 f
-X VBAT 1 -200 1700 100 D 50 50 1 1 W
-X PC2 10 -700 -300 100 R 50 50 1 1 B
-X PC3 11 -700 -400 100 R 50 50 1 1 B
-X VSSA 12 200 -1800 100 U 50 50 1 1 W
-X VDDA 13 300 1700 100 D 50 50 1 1 W
-X PA0 14 700 1500 100 L 50 50 1 1 B
-X PA1 15 700 1400 100 L 50 50 1 1 B
-X PA2 16 700 1300 100 L 50 50 1 1 B
-X PA3 17 700 1200 100 L 50 50 1 1 B
-X VSS 18 -200 -1800 100 U 50 50 1 1 W
-X VDD 19 -100 1700 100 D 50 50 1 1 W
-X PC13 2 -700 -1400 100 R 50 50 1 1 B
-X PA4 20 700 1100 100 L 50 50 1 1 B
-X PA5 21 700 1000 100 L 50 50 1 1 B
-X PA6 22 700 900 100 L 50 50 1 1 B
-X PA7 23 700 800 100 L 50 50 1 1 B
-X PC4 24 -700 -500 100 R 50 50 1 1 B
-X PC5 25 -700 -600 100 R 50 50 1 1 B
-X PB0 26 700 -200 100 L 50 50 1 1 B
-X PB1 27 700 -300 100 L 50 50 1 1 B
-X PB2 28 700 -400 100 L 50 50 1 1 B
-X PB10 29 700 -1200 100 L 50 50 1 1 B
-X PC14 3 -700 -1500 100 R 50 50 1 1 B
-X VCAP_1 30 -700 1100 100 R 50 50 1 1 W
-X VSS 31 -100 -1800 100 U 50 50 1 1 W
-X VDD 32 0 1700 100 D 50 50 1 1 W
-X PB12 33 700 -1300 100 L 50 50 1 1 B
-X PB13 34 700 -1400 100 L 50 50 1 1 B
-X PB14 35 700 -1500 100 L 50 50 1 1 B
-X PB15 36 700 -1600 100 L 50 50 1 1 B
-X PC6 37 -700 -700 100 R 50 50 1 1 B
-X PC7 38 -700 -800 100 R 50 50 1 1 B
-X PC8 39 -700 -900 100 R 50 50 1 1 B
-X PC15 4 -700 -1600 100 R 50 50 1 1 B
-X PC9 40 -700 -1000 100 R 50 50 1 1 B
-X PA8 41 700 700 100 L 50 50 1 1 B
-X PA9 42 700 600 100 L 50 50 1 1 B
-X PA10 43 700 500 100 L 50 50 1 1 B
-X PA11 44 700 400 100 L 50 50 1 1 B
-X PA12 45 700 300 100 L 50 50 1 1 B
-X PA13 46 700 200 100 L 50 50 1 1 B
-X VSS 47 0 -1800 100 U 50 50 1 1 W
-X VDD 48 100 1700 100 D 50 50 1 1 W
-X PA14 49 700 100 100 L 50 50 1 1 B
-X PH0 5 -700 400 100 R 50 50 1 1 I
-X PA15 50 700 0 100 L 50 50 1 1 B
-X PC10 51 -700 -1100 100 R 50 50 1 1 B
-X PC11 52 -700 -1200 100 R 50 50 1 1 B
-X PC12 53 -700 -1300 100 R 50 50 1 1 B
-X PD2 54 -700 100 100 R 50 50 1 1 B
-X PB3 55 700 -500 100 L 50 50 1 1 B
-X PB4 56 700 -600 100 L 50 50 1 1 B
-X PB5 57 700 -700 100 L 50 50 1 1 B
-X PB6 58 700 -800 100 L 50 50 1 1 B
-X PB7 59 700 -900 100 L 50 50 1 1 B
-X PH1 6 -700 300 100 R 50 50 1 1 I
-X BOOT0 60 -700 1300 100 R 50 50 1 1 I
-X PB8 61 700 -1000 100 L 50 50 1 1 B
-X PB9 62 700 -1100 100 L 50 50 1 1 B
-X VSS 63 100 -1800 100 U 50 50 1 1 W
-X VDD 64 200 1700 100 D 50 50 1 1 W
-X NRST 7 -700 1500 100 R 50 50 1 1 I
-X PC0 8 -700 -100 100 R 50 50 1 1 B
-X PC1 9 -700 -200 100 R 50 50 1 1 B
-ENDDRAW
-ENDDEF
-#
-# Mechanical_MountingHole_Pad
-#
-DEF Mechanical_MountingHole_Pad H 0 40 N N 1 F N
-F0 "H" 0 250 50 H V C CNN
-F1 "Mechanical_MountingHole_Pad" 0 175 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- MountingHole*Pad*
-$ENDFPLIST
-DRAW
-C 0 50 50 0 1 50 N
-X 1 1 0 -100 100 U 50 50 1 1 I
-ENDDRAW
-ENDDEF
-#
-# Regulator_Switching_LM2594HVM-3.3
-#
-DEF Regulator_Switching_LM2594HVM-3.3 U 0 20 Y Y 1 F N
-F0 "U" -300 250 50 H V L CNN
-F1 "Regulator_Switching_LM2594HVM-3.3" 0 250 50 H V L CNN
-F2 "Package_SO:SOIC-8_3.9x4.9mm_P1.27mm" 200 -250 50 H I L CIN
-F3 "" 0 100 50 H I C CNN
-ALIAS LM2594M-5.0 LM2594M-12 LM2594M-ADJ LM2594HVM-3.3 LM2594HVM-5.0 LM2594HVM-12 LM2594HVM-ADJ
-$FPLIST
- SOIC*3.9x4.9mm*
-$ENDFPLIST
-DRAW
-S -300 200 300 -200 0 1 10 f
-X NC 1 -200 -300 100 U 50 50 1 1 P
-X NC 2 -100 -300 100 U 50 50 1 1 P
-X NC 3 0 -300 100 U 50 50 1 1 P
-X FB 4 400 100 100 L 50 50 1 1 I
-X ~ON~/OFF 5 -400 0 100 R 50 50 1 1 I
-X GND 6 200 -300 100 U 50 50 1 1 W
-X VIN 7 -400 100 100 R 50 50 1 1 W
-X OUT 8 400 0 100 L 50 50 1 1 O
-ENDDRAW
-ENDDEF
-#
-# Sensor_Magnetic_AS5045B
-#
-DEF Sensor_Magnetic_AS5045B U 0 20 Y Y 1 F N
-F0 "U" -400 450 50 H V L CNN
-F1 "Sensor_Magnetic_AS5045B" 450 450 50 H V R CNN
-F2 "Package_SO:SSOP-16_5.3x6.2mm_P0.65mm" 150 -450 50 H I L CNN
-F3 "" -2150 1600 50 H I C CNN
-$FPLIST
- SSOP*5.3x6.2mm*P0.65mm*
-$ENDFPLIST
-DRAW
-A 0 0 110 -1799 -1 0 1 10 N -110 0 110 0
-C 0 0 80 0 1 10 N
-S -400 400 400 -400 0 1 10 f
-P 2 0 1 10 -110 0 -130 -20 N
-P 2 0 1 10 -110 0 -90 -20 N
-P 2 0 1 10 110 0 90 -20 N
-P 2 0 1 10 110 0 130 -20 N
-P 4 0 1 0 10 10 50 -30 30 -50 -10 -10 N
-P 7 0 1 0 -30 50 10 10 -10 -10 -50 30 -40 40 -30 50 -25 45 F
-X MagINCn 1 -500 -200 100 R 50 50 1 1 C
-X CLK 10 500 100 100 L 50 50 1 1 I
-X CSn 11 500 0 100 L 50 50 1 1 I
-X PWM 12 500 -300 100 L 50 50 1 1 O
-X NC 13 400 -200 100 L 50 50 1 1 N N
-X NC 14 100 -400 100 U 50 50 1 1 N N
-X VDD3V3 15 -100 500 100 D 50 50 1 1 W
-X VDD5V 16 0 500 100 D 50 50 1 1 W
-X MagDECn 2 -500 -300 100 R 50 50 1 1 C
-X A 3 -500 300 100 R 50 50 1 1 O
-X B 4 -500 200 100 R 50 50 1 1 O
-X NC 5 400 -100 100 L 50 50 1 1 N N
-X I 6 -500 100 100 R 50 50 1 1 O
-X VSS 7 0 -500 100 U 50 50 1 1 W
-X PDIO 8 500 300 100 L 50 50 1 1 I
-X DO 9 500 200 100 L 50 50 1 1 O
-ENDDRAW
-ENDDEF
-#
-# kicad_Library_PROGRAMMATOR
-#
-DEF kicad_Library_PROGRAMMATOR xp 0 40 Y Y 1 F N
-F0 "xp" -350 900 50 H V C CNN
-F1 "kicad_Library_PROGRAMMATOR" -400 200 50 H V C CNN
-F2 "Connector_IDC:IDC-Header_2x05_P2.54mm_Vertical" -350 900 50 H I C CNN
-F3 "" -350 900 50 H I C CNN
-DRAW
-S -700 800 50 300 0 1 0 f
-X GND 1 -800 750 100 R 50 50 1 1 P
-X +5V 10 150 350 100 L 50 50 1 1 w
-X +3V 2 150 750 100 L 50 50 1 1 w
-X RESET 3 -800 650 100 R 50 50 1 1 I
-X BOOT 4 150 650 100 L 50 50 1 1 I
-X RX 5 -800 550 100 R 50 50 1 1 I
-X TX 6 150 550 100 L 50 50 1 1 O
-X SWDCLK 7 -800 450 100 R 50 50 1 1 I
-X SWDDTA 8 150 450 100 L 50 50 1 1 B
-X GND 9 -800 350 100 R 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# power_+24V
-#
-DEF power_+24V #PWR 0 0 Y Y 1 F P
-F0 "#PWR" 0 -150 50 H I C CNN
-F1 "power_+24V" 0 140 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-DRAW
-P 2 0 1 0 -30 50 0 100 N
-P 2 0 1 0 0 0 0 100 N
-P 2 0 1 0 0 100 30 50 N
-X +24V 1 0 0 0 U 50 50 1 1 W N
-ENDDRAW
-ENDDEF
-#
-# power_+3.3V
-#
-DEF power_+3.3V #PWR 0 0 Y Y 1 F P
-F0 "#PWR" 0 -150 50 H I C CNN
-F1 "power_+3.3V" 0 140 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-ALIAS +3.3V
-DRAW
-P 2 0 1 0 -30 50 0 100 N
-P 2 0 1 0 0 0 0 100 N
-P 2 0 1 0 0 100 30 50 N
-X +3V3 1 0 0 0 U 50 50 1 1 W N
-ENDDRAW
-ENDDEF
-#
-# power_GND
-#
-DEF power_GND #PWR 0 0 Y Y 1 F P
-F0 "#PWR" 0 -250 50 H I C CNN
-F1 "power_GND" 0 -150 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-DRAW
-P 6 0 1 0 0 0 0 -50 50 -50 0 -100 -50 -50 0 -50 N
-X GND 1 0 0 0 D 50 50 1 1 W N
-ENDDRAW
-ENDDEF
-#
-#End Library

controller/fw/embed/src/main.cpp

@@ -37,8 +37,8 @@ void setup_foc(MagneticSensorAS5045 *sensor, BLDCMotor *motor, DRV8313Driver *dr
     sensor->init(&spi);
     motor->linkSensor(sensor);
     driver->pwm_frequency = 20000;
-    driver->voltage_power_supply = 20;
-    driver->voltage_limit = 40;
+    driver->voltage_power_supply = 24;
+    driver->voltage_limit = 24;
     driver->init();
     motor->linkDriver(driver);
     current_sense->linkDriver(driver);
@@ -50,6 +50,7 @@ void setup_foc(MagneticSensorAS5045 *sensor, BLDCMotor *motor, DRV8313Driver *dr
     motor->monitor_start_char = 'M';
     motor->monitor_end_char = 'M';
     commander->verbose = VerboseMode::machine_readable;
+    motor->monitor_downsample = 5000;
     motor->controller = MotionControlType::angle;
     motor->torque_controller = TorqueControlType::voltage;
     motor->foc_modulation = FOCModulationType::SinePWM;

controller/fw/embed/test/README.md

@@ -0,0 +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
+     ```

controller/fw/embed/test/python_can.py

@@ -0,0 +1,47 @@
+import can
+import struct
+import time
+
+def process_can_message(msg):
+    if msg.dlc == 5:  # Check the message length
+        print(f"Received message with ID: {msg.arbitration_id}")
+        print(f"Data: {msg.data}")
+
+        # The first byte determines the data type (flag)
+        flag = chr(msg.data[0])
+        
+        if flag == 'A':  # Angle
+            angle_bytes = msg.data[1:5]
+            angle = struct.unpack('<f', bytes(angle_bytes))[0]
+            print(f"Angle: {angle} degrees")
+        elif flag == 'V':  # Velocity
+            velocity_bytes = msg.data[1:5]
+            velocity = struct.unpack('<f', bytes(velocity_bytes))[0]
+            print(f"Velocity: {velocity} rad/s")
+        elif flag == 'E' and msg.dlc >= 2:  # Enable/Disable
+            enabled = msg.data[1]  # Expecting 1 byte (0 or 1)
+            print(f"Enabled: {bool(enabled)}")
+        else:
+            print(f"Unknown flag: {flag}")
+    else:
+        print(f"Received message with unexpected length: {msg.dlc}")
+
+def receive_can_messages():
+    try:
+        # Connect to the CAN bus
+        bus = can.interface.Bus(channel='can0', bustype='socketcan')
+
+        print("Waiting for messages on the CAN bus...")
+
+        while True:
+            msg = bus.recv()
+            if msg:
+                process_can_message(msg)
+
+    except KeyboardInterrupt:
+        print("\nExiting program...")
+    except Exception as e:
+        print(f"Error: {e}")
+
+if __name__ == '__main__':
+    receive_can_messages()

controller/fw/embed/test/python_enable_motor.py

@@ -0,0 +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()

controller/fw/embed/test/python_send_angle.py

@@ -0,0 +1,37 @@
+import can
+import struct
+import time
+import argparse
+
+# Function to send the target angle
+def send_target_angle(bus, target_angle):
+    msg = can.Message()
+    msg.arbitration_id = 1  # Message ID
+    msg.is_extended_id = False
+    msg.dlc = 5  # Message length
+    msg.data = [ord('A')] + list(struct.pack('<f', target_angle))  # 'A' for the command identifier, followed by the angle in float format
+
+    try:
+        bus.send(msg)
+        print(f"Sent message with target angle: {target_angle} degrees")
+        print(f"Message data: {msg.data}")
+    except can.CanError:
+        print("Message failed to send")
+
+# Main function
+def main():
+    parser = argparse.ArgumentParser(description="Send target angles over CAN bus.")
+    parser.add_argument("--angle", type=float, required=True, help="Target angle to send over the CAN bus")
+    args = parser.parse_args()
+
+    target_angle = args.angle
+
+    # CAN interface setup
+    bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=1000000)  # Ensure the bitrate matches the microcontroller settings
+    print("CAN bus initialized, sending target angles...")
+
+    # Loop to send messages
+    send_target_angle(bus, target_angle)
+
+if __name__ == '__main__':
+    main()

controller/fw/embed/test/python_send_velocity.py

@@ -0,0 +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()

controller/fw/embed/test/send_velocity_impulses.py

@@ -0,0 +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()

controller/hw/motor_controller_50mm.kicad_prl

@@ -67,7 +67,7 @@
       39,
       40
     ],
-    "visible_layers": "0003ef3_80000001",
+    "visible_layers": "0001010_80000000",
     "zone_display_mode": 0
   },
   "git": {

controller/hw/motor_controller_50mm.kicad_pro

@@ -74,6 +74,7 @@
         "footprint_type_mismatch": "ignore",
         "hole_clearance": "error",
         "hole_near_hole": "error",
+        "holes_co_located": "warning",
         "invalid_outline": "error",
         "isolated_copper": "warning",
         "item_on_disabled_layer": "error",
@@ -830,7 +831,7 @@
       "plot": "",
       "pos_files": "",
       "specctra_dsn": "",
-      "step": "",
+      "step": "../../../../motor_controller_50mm_new.step",
       "svg": "",
       "vrml": ""
     },

firmware/embed/test/README

@@ -1,11 +0,0 @@
-
-This directory is intended for PlatformIO Test Runner and project tests.
-
-Unit Testing is a software testing method by which individual units of
-source code, sets of one or more MCU program modules together with associated
-control data, usage procedures, and operating procedures, are tested to
-determine whether they are fit for use. Unit testing finds problems early
-in the development cycle.
-
-More information about PlatformIO Unit Testing:
-- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html

motor/README.md

@@ -0,0 +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.
+