Suggestions for OpenSource Electric Unicycle firmware

Support for creating custom user applications on the VESC.
lizardmech
Posts: 171
Joined: 19 Jan 2016, 10:54
Location: Australia

Re: Suggestions for OpenSource Electric Unicycle firmware

Postby lizardmech » 07 Aug 2016, 09:53

New MCU does not allow openOCD, VESC firmware and BLDC tool to read/write flash memory. Board model MB997D
stm32f407
vgt6u 2
7B553 vq
phl 7b 612

Old MCU model that could be flashed openOCD and ran VESC with no issues. Board model MB997C
stm32f407
vgt6 2
7B537 vq
phl 7b 523

I noticed there's a bunch of new F4s out recently with higher clock speeds and new features. They probably moved it to a smaller fabrication node and changed the hardware, the newest f407s are possibly just the new models with hardware disabled.

rew
Posts: 898
Joined: 25 Mar 2016, 12:29
Location: Delft, Netherlands.

Re: Suggestions for OpenSource Electric Unicycle firmware

Postby rew » 07 Aug 2016, 11:45

Both are REV2 version chips. One produced week 12, 2016, the other week 23 of 2015.

lizardmech
Posts: 171
Joined: 19 Jan 2016, 10:54
Location: Australia

Re: Suggestions for OpenSource Electric Unicycle firmware

Postby lizardmech » 07 Aug 2016, 12:41

Any idea what the vgt6u means? There's no U version in their list of SKU and the others are just pin number, flash size etc. While the older versions only have vgt6.

yes_we_can_gogreen
Posts: 40
Joined: 13 Apr 2016, 10:27
Location: uk

Re: Suggestions for OpenSource Electric Unicycle firmware

Postby yes_we_can_gogreen » 07 Aug 2016, 13:03

As for an alternative to floats without FPU, there is the Q number formatting - I am always learning ;-) :-)
Seems it is very well known from the programming of high speed needs of floating math operations on cheap hardware lacking FPU.

Then I found an OpenSource Library for Q15.15 that seems well known for Cortex M0 up to Cortex M3 and Atmel AVR: https://code.google.com/archive/p/libfi ... rence.wiki

rew
Posts: 898
Joined: 25 Mar 2016, 12:29
Location: Delft, Netherlands.

Re: Suggestions for OpenSource Electric Unicycle firmware

Postby rew » 07 Aug 2016, 20:42

lizardmech wrote:Any idea what the vgt6u means? There's no U version in their list of SKU and the others are just pin number, flash size etc. While the older versions only have vgt6.

V: 100 pins.
G: 1024kB flash
T6: IIRC temp range: 0-85.

OH, wait. I hadn't seen the "U". Sorry.

lizardmech
Posts: 171
Joined: 19 Jan 2016, 10:54
Location: Australia

Re: Suggestions for OpenSource Electric Unicycle firmware

Postby lizardmech » 08 Aug 2016, 08:01

I got a nucleo with the new f446 model, it also features the U designation after the usual codes.

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Ykane
Posts: 1
Joined: 12 Nov 2016, 19:57

Re: Suggestions for OpenSource Electric Unicycle firmware

Postby Ykane » 12 Nov 2016, 20:04

Thank you guys for this wonderful topic ;). I'm really interested in self balancing unicycles (like these for example) and every piece of information that covers that matter is very important to me. Completing the software for these kind of unicycles is always a hard task.
Last edited by Ykane on 26 Nov 2016, 18:35, edited 2 times in total.

yes_we_can_gogreen
Posts: 40
Joined: 13 Apr 2016, 10:27
Location: uk

Re: Suggestions for OpenSource Electric Unicycle firmware

Postby yes_we_can_gogreen » 12 Nov 2016, 20:42

Ykane wrote:Thank you guys for this wonderful topic ;) . I'm really interested in self balancing unicycles and every piece of information that covers that matter is very important to me. Completing the software for these kind of unicycles is always a hard task.

Please see here the EGG EUC OpenSource, with many OpenSource tecnhology: https://github.com/EGG-electric-unicycl ... tion/wiki/

Currently I am testing the VESC rotor angle estimator on the MicroWorks 30B4 board. I am learning a lot from VESC firmware and I plan to reuse it!!!

lizardmech
Posts: 171
Joined: 19 Jan 2016, 10:54
Location: Australia

Re: Suggestions for OpenSource Electric Unicycle firmware

Postby lizardmech » 13 Nov 2016, 04:54

Ykane wrote:Thank you guys for this wonderful topic ;) . I'm really interested in self balancing unicycles and every piece of information that covers that matter is very important to me. Completing the software for these kind of unicycles is always a hard task.

Hardware is complete, all that is left is to find someone to help write a VESC control module code for it.

yes_we_can_gogreen
Posts: 40
Joined: 13 Apr 2016, 10:27
Location: uk

Re: Suggestions for OpenSource Electric Unicycle firmware

Postby yes_we_can_gogreen » 28 Mar 2017, 12:49

Just to post a quick update. I am now controlling well the electric unicycle motor but using a modifiedFOC like Shane Colton implemented on his STM32F103 board (no FPU on this microcontroller). I am not using VESC firmware but I am always looking at the code and learn with it - my main relevant Open Source projects are Shave Colton firmware with excellent documentation and VESC firmware.

A video I recorded today showing my electric unicycle running the motor on both directions and using modifiedFOC:



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