lambdadrive firmware

CANOpen BLDC controller firmware, experimental version of ODrive Firmware

Written in http://ivorylang.org/

Requires

• stack https://docs.haskellstack.org/en/stable/README/
• arm-none-eabi-newlib
• arm-none-eabi-gcc

Fedora:

dnf install arm-none-eabi-gcc-cs arm-none-eabi-newlib

Building

To build all images:

./standalone-setup.sh # required if you don't have checked out ivory tower and ivory-tower-stm32 repos in ..
make

Tests

ADC

Run PWM on TIM1, also triggering ADC1 with TIM1_CCR4. ADC1 reads out pinA0 every 500 msecs and also with ADC interrupt.

Encoder

Application for testing encoder capture mode with general purpose timer.

Stores counts in counter variable, direction in dir, these can be inspected in gdb with p counter and p dir.

PWM

Test application outputing center aligned 6-channel PWM with deadtime enabled using advanced timer TIM1.

SPI

Application for testing DRV8301 communications.

Talks to two DRV8301s sharing SPI bus. Polls status register every 1000ms after successful initialization.

CANSendRecv

Test application sending packets from CAN1, blinks on received packets.

Blink

Blinks external LEDs on GPIO1 and GPIO2

Spin

Open loop locked motor spin test

Calib

Calibration test, performs full calibration sequence

FOCVoltage

Field oriented control voltage loop test, performs calibration sequence and starts FOC voltage loop, spinning motor slowly locked to encoder phase

Run make to build all test applications. Specific application can be built with make APP loaded with make APP-load and make APP-run.

To load PWM test application run:

make pwm-load

to also issue run and start application after loading use:

make pwm-run

to just run gdb with new binary without loading:

make pwm-gdb
# issuing 'load' in gdb         == pwm-load
# running both 'load' and 'run' == pwm-run

Flashing

With BlackMagic Probe:

arm-none-eabi-gdb --ex 'target extended-remote /dev/ttyACM0' --ex 'monitor swdp_scan' --ex 'attach 1' --ex 'load' build/can2uart-test/image