mirror of https://github.com/rusefi/bldc.git
191 lines
6.3 KiB
Markdown
191 lines
6.3 KiB
Markdown
# VESC firmware
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[](https://www.gnu.org/licenses/gpl-3.0)
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[](https://travis-ci.com/vedderb/bldc)
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[](https://www.codacy.com/app/vedderb/bldc?utm_source=github.com&utm_medium=referral&utm_content=vedderb/bldc&utm_campaign=Badge_Grade)
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[](https://github.com/vedderb/bldc/graphs/contributors)
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[](https://github.com/vedderb/bldc/watchers)
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[](https://github.com/vedderb/bldc/stargazers)
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[](https://github.com/vedderb/bldc/network/members)
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An open source motor controller firmware.
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This is the source code for the VESC DC/BLDC/FOC controller. Read more at
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[https://vesc-project.com/](https://vesc-project.com/)
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## Supported boards
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All of them!
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Make sure you select your board in [conf_general.h](conf_general.h)
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```c
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//#define HW_SOURCE "hw_40.c"
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//#define HW_HEADER "hw_40.h"
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//#define HW_SOURCE "hw_45.c"
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//#define HW_HEADER "hw_45.h"
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//#define HW_SOURCE "hw_46.c" // Also for 4.7
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//#define HW_HEADER "hw_46.h" // Also for 4.7
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//#define HW_SOURCE "hw_48.c"
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//#define HW_HEADER "hw_48.h"
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//#define HW_SOURCE "hw_49.c"
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//#define HW_HEADER "hw_49.h"
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//#define HW_SOURCE "hw_410.c" // Also for 4.11 and 4.12
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//#define HW_HEADER "hw_410.h" // Also for 4.11 and 4.12
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#define HW_SOURCE "hw_60.c"
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#define HW_HEADER "hw_60.h"
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//#define HW_SOURCE "hw_r2.c"
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//#define HW_HEADER "hw_r2.h"
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//#define HW_SOURCE "hw_victor_r1a.c"
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//#define HW_HEADER "hw_victor_r1a.h"
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//#define HW_SOURCE "hw_das_rs.c"
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//#define HW_HEADER "hw_das_rs.h"
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//#define HW_SOURCE "hw_axiom.c"
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//#define HW_HEADER "hw_axiom.h"
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//#define HW_SOURCE "hw_rh.c"
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//#define HW_HEADER "hw_rh.h"
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//#define HW_SOURCE "hw_tp.c"
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//#define HW_HEADER "hw_tp.h"
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//#define HW_SOURCE "hw_75_300.c"
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//#define HW_HEADER "hw_75_300.h"
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//#define HW_SOURCE "hw_mini4.c"
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//#define HW_HEADER "hw_mini4.h"
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//#define HW_SOURCE "hw_das_mini.c"
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//#define HW_HEADER "hw_das_mini.h"
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//#define HW_SOURCE "hw_uavc_qcube.c"
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//#define HW_HEADER "hw_uavc_qcube.h"
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//#define HW_SOURCE "hw_uavc_basic.c"
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//#define HW_HEADER "hw_uavc_basic.h"
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```
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There are also many other options that can be changed in conf_general.h
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## Prerequisites
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### On Ubuntu
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Install the gcc-arm-embedded toolchain. Recommended version ```gcc-arm-none-eabi-7-2018-q2```
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**Method 1 - Through Official GNU Arm Embedded Toolchain Downloads**
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1. Go to [GNU Arm Embedded Toolchain Downloads](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm/downloads)
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2. Locate and Download version **gcc-arm-none-eabi-7-2018-q2** for your machine
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```GNU Arm Embedded Toolchain: 7-2018-q2-update June 27, 2018```
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Linux 64-bit version can be downloaded from [here](https://developer.arm.com/-/media/Files/downloads/gnu-rm/7-2018q2/gcc-arm-none-eabi-7-2018-q2-update-linux.tar.bz2?revision=bc2c96c0-14b5-4bb4-9f18-bceb4050fee7?product=GNU%20Arm%20Embedded%20Toolchain,64-bit,,Linux,7-2018-q2-update)
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3. Unpack the archive in the file manager by right-clicking on it and select "extract here"
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4. Change directory to the unpacked folder, unpack it in /usr/local by execute the following command
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```
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cd gcc-arm-none-eabi-7-2018-q2-update-linux
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sudo cp -RT gcc-arm-none-eabi-7-2018-q2-update/ /usr/local
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```
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**Method 2 - Through apt install**
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```bash
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sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
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sudo apt update
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sudo apt install gcc-arm-embedded
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```
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**Optional - Add udev rules to use the stlink v2 programmer without being root**
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```bash
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wget vedder.se/Temp/49-stlinkv2.rules
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sudo mv 49-stlinkv2.rules /etc/udev/rules.d/
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sudo udevadm trigger
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```
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### On MacOS
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Go to the [GNU ARM embedded toolchain downloads Website](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm/downloads) and select the mac version, download it and extract it to your user directory.
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Append the bin directory to your **$PATH**. For example:
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```bash
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export PATH="$PATH:/Users/your-name/gcc-arm-none-eabi-8-2019-q3-update/bin/"
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```
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Install stlink and openocd
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```bash
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brew install stlink
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brew install openocd
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```
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## Build
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Clone and build the firmware
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```bash
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git clone https://github.com/vedderb/bldc.git vesc_firmware
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cd vesc_firmware
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make
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```
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## Upload to VESC
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### Method 1 - Flash it using an STLink SWD debugger
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Build and flash the [bootloader](https://github.com/vedderb/bldc-bootloader) first
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```bash
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make upload
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```
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### Method 2 - Upload Firmware via VESC tool through USB
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1. Clone and build the firmware in **.bin** format
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Reminder : Remember to select your board in [**conf_general.h**]
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```bash
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git clone https://github.com/vedderb/bldc.git vesc_firmware
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cd vesc_firmware
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#make build/your_firmware_name_here.bin
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make build/VESC_fw.bin
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```
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In VESC tool
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2. Connect to the VESC
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3. Navigate to the Firmware tab on the left side menu
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4. Click on Custom file tab
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5. Click on the folder icon to select the built firmware in .bin format (e.g. VESC_fw.bin)
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##### [ Reminder : It is normal to see VESC disconnects during the firmware upload process ]
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##### **[ Warning : DO NOT DISCONNECT POWER/USB to VESC during the upload process, or you will risk bricking your VESC ]**
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##### **[ Warning : ONLY DISCONNECT your VESC 10s after the upload loading bar completed and "FW Upload DONE" ]**
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6. Press the upload firmware button (downward arrow) on the bottom right to start upload the selected firmware.
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7. Wait for **10s** after the loading bar completed (Warning: unplug sooner will risk bricking your VESC)
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8. The VESC will disconnect itself after new firmware is uploaded.
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## In case you bricked your VESC
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you will need to upload a new working firmware to the VESC.
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However, to upload a firmware to a bricked VESC, you have to use a SWD Debugger.
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## Contribute
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Head to the [forums](https://vesc-project.com/forum) to get involved and improve this project.
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## License
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The software is released under the GNU General Public License version 3.0
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