Decisions

• We have configured the Config file for below features
  • We are using speed mode in Control Mode : #define CTRL_MOD_REQ SPD_MODE
    • Because speed is feedback based and stm tries to achieve it . Voltage is not desired parameter to attain
  • INACTIVITY_TIMEOUT =0 : so not turning off the motors after 8 mins
  • Odomtery is enabled : #define ENABLE_ODOMETRY
  • Buzer disabled
• Its taking Input as RPM

How to flash it

• Clone repository

git@github.com:Robotisim/hoverboard_firmware.git

Install tools

pip install platformio
pip install pyserial
sudo apt install stlink-tools
sudo apt install openocd

• Check versions

pio --version
st-flash --version

Serial and USB permissions

Skip if flashing and opening the port already work without sudo.

sudo usermod -aG dialout $USER          # for /dev/ttyACM0, then log out and back in

echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", MODE="0666"' \
  | sudo tee /etc/udev/rules.d/99-stlink.rules
sudo udevadm control --reload-rules
sudo udevadm trigger

Wire the ST-Link to the hoverboard

• SWDIO should be from straight line cute side of pcb and swck should be on on cuve cut side

1. SWDIO
2. GND
3. SWCLK

Build and flash the hoverboard

• HOLD Power Button and Keep it pressed till upload is done

cd software/firmwares/hoverboard_stm32
pio run

• HOLD Power Button and Keep it pressed till upload is done

pio run -e VARIANT_USART -t clean
pio run -e VARIANT_USART -t upload

NOTE : Next to test you need to send speed commands through microcontroller code