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Merge pull request #4 from VIPQualityPost/v3

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V3
This commit is contained in:
VIPQualityPost
2023-11-08 17:17:12 -05:00
committed by GitHub
parent 4e71a6c509 7e7f196408
commit 6f0aa81e13
67 changed files with 15878 additions and 111280 deletions
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8
README.md
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# Lemon Pepper Stepper Driver
Small, all in one hybrid stepper + BLDC driver, designed to mount to the back of NEMA 14 size stepper motors. The board supports up to 48V @ 1.5A with a choice of either step-dir or CANbus inputs.
The boards can easily be assembled by JLC and the design has been cost-optimized, coming in at about $20 per board fully assembled.
Small, all in one hybrid stepper + BLDC driver, designed to mount to the back of NEMA 14/17 size stepper motors. The board supports up to 48V @ 1.5A with a choice of either step-dir, CAN bus, I2C, or USB inputs.
The boards can easily be assembled by JLC and the design has been cost-optimized, coming in at about $20 per board fully assembled (minus connectors, which need to be modified to sit flat on motor back).
Due to the high pole pair count of stepper motors, a high resolution (21 bit) magnetic encoder is used, supporting both SPI and hardware ABI position encoding.
Despite the rather high theoretical performance of this board I think you would need some serious cooling to actually hit the potential 50-70W specs of the parts.
![Render of PCB](/render.png)
![Photo of PCB](/many.png)
![PCB on motor](/motor.png)

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assembly/gerbers/nema14/lemon-pepper-F_Paste.gbr
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1351
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4143
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assembly/gerbers/nema17/lemon-pepper-F_Cu.gbr
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File diff suppressed because it is too large Load Diff

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assembly/gerbers/nema17/lemon-pepper-F_Paste.gbr
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1176
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4
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X0.6104Y0.3051
X0.623Y-0.1289
X0.6339Y-0.3327
X0.6348Y-0.2648
X0.6348Y-0.2992
X0.6614Y-0.2323
T4
X-0.4682Y-0.2598
T5

2
assembly/gerbers/nema17/lemon-pepper-job.gbrjob
View File

@@ -5,7 +5,7 @@
"Application": "Pcbnew",
"Version": "7.0.8"
},
"CreationDate": "2023-10-26T11:06:19-04:00"
"CreationDate": "2023-11-08T16:14:15-05:00"
},
"GeneralSpecs": {
"ProjectId": {

8
assembly/lemon-pepper-BOM.csv
View File

@@ -7,28 +7,28 @@ Comment,Designator,Footprint,JLCPCB Part #
10n,C601,402,C15195
220n,C602,402,C16772
SS210,D101,SMA,C14996
1N4148WS,"D201, D602, D603",SOD-323,C2128
USER,D301,603,C72041
FAULT,D302,603,C2286
BZT52C30S,"D501, D502",SOD-323,C22622
OCD,D601,603,C2286
1N4148WS,"D602, D603",SOD-323,C2128
USB_C_Receptacle_USB2.0,J201,GT-USB-7052_1,C963223
33u,L501,1210,C394994
MMBT5551,Q501,SOT-23,C2145
5k1,"R101, R102, R301, R302, R601",402,C25905
120R,R103,402,C25079
0R,"R104, R105",402,C17168
10k,R306,402,C25744
10k,"R306, R401",402,C25744
200k,R501,402,C25764
51k,R502,402,C25794
22k,R503,402,C25768
5R,R504,603,C22936
15k,R505,402,C25756
SRV05,U201,SOT-23-6,C7420376
SRV05-4,U201,SOT-23-6,C7420376
STM32G431,U301,QFN48,C529356
SN65HVD230,U302,SOIC-8,C12084
MT6835,U401,TSSOP-16,C2932578
MAX15062CATA+T,U501,TDFN-8,C1121853
L6226QTR,U601,VQFN-32,C95357
ACS711KEXLT-15AB-T,"U701, U702, U703",ACS711KEXLT-15AB-T,C150824
ACS711KEXLT-15AB-T,"U701, U702, U703",ACS711KEXLT-15AB-T,C146412
12MHz,Y301,3225,C9002
1 Comment Designator Footprint JLCPCB Part #
7 10n C601 402 C15195
8 220n C602 402 C16772
9 SS210 D101 SMA C14996
1N4148WS D201, D602, D603 SOD-323 C2128
10 USER D301 603 C72041
11 FAULT D302 603 C2286
12 BZT52C30S D501, D502 SOD-323 C22622
13 OCD D601 603 C2286
14 1N4148WS D602, D603 SOD-323 C2128
15 USB_C_Receptacle_USB2.0 J201 GT-USB-7052_1 C963223
16 33u L501 1210 C394994
17 MMBT5551 Q501 SOT-23 C2145
18 5k1 R101, R102, R301, R302, R601 402 C25905
19 120R R103 402 C25079
20 0R R104, R105 402 C17168
21 10k R306 R306, R401 402 C25744
22 200k R501 402 C25764
23 51k R502 402 C25794
24 22k R503 402 C25768
25 5R R504 603 C22936
26 15k R505 402 C25756
27 SRV05 SRV05-4 U201 SOT-23-6 C7420376
28 STM32G431 U301 QFN48 C529356
29 SN65HVD230 U302 SOIC-8 C12084
30 MT6835 U401 TSSOP-16 C2932578
31 MAX15062CATA+T U501 TDFN-8 C1121853
32 L6226QTR U601 VQFN-32 C95357
33 ACS711KEXLT-15AB-T U701, U702, U703 ACS711KEXLT-15AB-T C150824 C146412
34 12MHz Y301 3225 C9002

23
assembly/lemon-pepper-CPL.csv
View File

@@ -4,9 +4,9 @@ C102,-8.275,14.225,top,180
C103,-8.275,12.175,top,0
C104,8.375,16.25,top,0
C105,8.375,12.175,top,180
C106,7.825,-4.525,top,90
C106,6.025,-5.725,top,180
C107,8.375,14.225,top,180
C108,6.025,-7.675,top,180
C108,6.025,-7.75,top,180
C201,-6.6,-3.9,top,180
C202,-4.6,-3.9,top,0
C301,-14.2,-1.425,top,-135
@@ -18,8 +18,8 @@ C306,-15.8,4.65,top,135
C307,-13.525,-2.1,top,-135
C308,-11.335589,8.989411,top,45
C401,1.6,4.025,top,180
C501,6.025,-9.75,top,180
C502,11.5,-7.885,top,-90
C501,6.025,-9.775,top,180
C502,11.5,-7.775,top,90
C503,15.825,-4.2,top,90
C601,11.75,-0.975,top,90
C602,11,-3.75,top,-90
@@ -27,9 +27,8 @@ C701,-6.18,6.5,top,180
C702,3.8,6.475,top,180
C703,-1.48,6.461143,top,180
D101,15.6,2.125,top,-90
D201,-15.175,-7.975,top,180
D301,-15.2375,-4.3,top,0
D302,-15.2375,-5.95,top,0
D301,-15.2375,-6.375,top,0
D302,-15.2375,-8.025,top,0
D501,7.8,9.45,top,-90
D502,9.825,9.15,top,-90
D601,13.025,-0.4,top,-90
@@ -39,16 +38,18 @@ FID101,-16.4,10.775,top,0
FID102,-16.05,-9.8,top,0
FID103,16.2,10.325,top,0
J201,-9.239716,-9.250629,top,-45
JP101,5.875,-4.075,top,0
L501,14.525,-7.55,top,0
Q501,12.7625,8.15,top,0
R101,-4.175,-10.875,top,90
R102,-7.65,-5.375,top,90
R103,5.815,-6.1,top,0
R104,4.95,-2.05,top,90
R105,3.925,-2.05,top,-90
R301,-15.8,-2.975,top,180
R103,5.875,-3,top,0
R104,3.925,-3,top,180
R105,3.925,-4.075,top,0
R301,-15.8,-5.05,top,180
R302,-11.35,-4.325,top,-135
R306,-10.625,8.275,top,45
R401,-15.8,-4,top,180
R501,10.89,-9.36,top,180
R502,9.365,-9.81,top,-90
R503,8.29,-9.81,top,-90
1 Designator Mid X Mid Y Layer Rotation
4 C103 -8.275 12.175 top 0
5 C104 8.375 16.25 top 0
6 C105 8.375 12.175 top 180
7 C106 7.825 6.025 -4.525 -5.725 top 90 180
8 C107 8.375 14.225 top 180
9 C108 6.025 -7.675 -7.75 top 180
10 C201 -6.6 -3.9 top 180
11 C202 -4.6 -3.9 top 0
12 C301 -14.2 -1.425 top -135
18 C307 -13.525 -2.1 top -135
19 C308 -11.335589 8.989411 top 45
20 C401 1.6 4.025 top 180
21 C501 6.025 -9.75 -9.775 top 180
22 C502 11.5 -7.885 -7.775 top -90 90
23 C503 15.825 -4.2 top 90
24 C601 11.75 -0.975 top 90
25 C602 11 -3.75 top -90
27 C702 3.8 6.475 top 180
28 C703 -1.48 6.461143 top 180
29 D101 15.6 2.125 top -90
30 D201 D301 -15.175 -15.2375 -7.975 -6.375 top 180 0
31 D301 D302 -15.2375 -4.3 -8.025 top 0
D302 -15.2375 -5.95 top 0
32 D501 7.8 9.45 top -90
33 D502 9.825 9.15 top -90
34 D601 13.025 -0.4 top -90
38 FID102 -16.05 -9.8 top 0
39 FID103 16.2 10.325 top 0
40 J201 -9.239716 -9.250629 top -45
41 JP101 5.875 -4.075 top 0
42 L501 14.525 -7.55 top 0
43 Q501 12.7625 8.15 top 0
44 R101 -4.175 -10.875 top 90
45 R102 -7.65 -5.375 top 90
46 R103 5.815 5.875 -6.1 -3 top 0
47 R104 4.95 3.925 -2.05 -3 top 90 180
48 R105 3.925 -2.05 -4.075 top -90 0
49 R301 -15.8 -2.975 -5.05 top 180
50 R302 -11.35 -4.325 top -135
51 R306 -10.625 8.275 top 45
52 R401 -15.8 -4 top 180
53 R501 10.89 -9.36 top 180
54 R502 9.365 -9.81 top -90
55 R503 8.29 -9.81 top -90

BIN
assembly/nema14-lemon-pepper.zip
View File

Binary file not shown.

BIN
assembly/nema17-lemon-pepper.zip
View File

Binary file not shown.

15
firmware/include/lemon-pepper.h
View File

@@ -5,10 +5,10 @@
#define V_PWM PA9
#define W_PWM PA1
#define A1 PA0
#define A2 PA1
#define B1 PA9
#define B2 PA10
#define MOT_A1 PA0
#define MOT_A2 PA10
#define MOT_B1 PA9
#define MOT_B2 PA1
#define MOT_EN PB12
@@ -21,7 +21,6 @@
#define ENC_CIPO PA6
#define ENC_SCK PA5
#define ENC_CS PC4
#define ENC_CAL PA4
// CURRENT SENSE
#define ISENSE_U PA3
@@ -32,10 +31,12 @@
#define CAN_TX PB8
#define CAN_RX PB9
// CONTROL INPUTS
// PCB REV CHANGES
#ifdef PCB_REV1
#define STEP_PIN PB14
#define DIR_PIN PB15
#define CAL_EN PB1
#endif
#ifdef PCB_REV2
@@ -44,6 +45,8 @@
#define I2C_SDA PC11
#define I2C_SCL PA8
#define CAL_EN PA4
#endif
// AUX

1
firmware/lib/Arduino-FOC Submodule

Submodule firmware/lib/Arduino-FOC added at f9e9a2d29e

1
firmware/lib/Arduino-FOC-drivers Submodule

Submodule firmware/lib/Arduino-FOC-drivers added at c66b9db82a

2
firmware/lib/can/can.cpp
View File

@@ -154,7 +154,7 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
// Reply globally but put the replying ID in the data packet.
TxHeader.Identifier = FDCAN_GlobalID;
memset(TxData, 0x00, 8 * sizeof(uint8_t));
memcpy(&TxData, (sFilterConfig.FilterID1), sizeof(uint16_t));
//memcpy(&TxData, (sFilterConfig.FilterID1), sizeof(uint16_t));
FDCAN_SendMessage();
}
else

189
firmware/lib/currentsense/adc.c Normal file
View File

@@ -0,0 +1,189 @@
#include "adc.h"
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
DMA_HandleTypeDef hdma_adc1;
DMA_HandleTypeDef hdma_adc2;
uint32_t HAL_RCC_ADC12_CLK_ENABLED = 0;
void MX_ADC1_Init(void)
{
ADC_MultiModeTypeDef multimode = {0};
ADC_ChannelConfTypeDef sConfig = {0};
hadc1.Instance = ADC1;
hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV16;
hadc1.Init.Resolution = ADC_RESOLUTION_12B;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.GainCompensation = 0;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc1.Init.LowPowerAutoWait = DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T3_TRGO;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc1.Init.DMAContinuousRequests = ENABLE;
hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
hadc1.Init.OversamplingMode = DISABLE;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL ADC1 Init fail.");
}
multimode.Mode = ADC_MODE_INDEPENDENT;
if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL ADC1 Multimode configuration fail.");
}
sConfig.Channel = ADC_CHANNEL_VOPAMP1;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
}
void MX_ADC2_Init(void)
{
ADC_ChannelConfTypeDef sConfig = {0};
hadc2.Instance = ADC2;
hadc2.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV16;
hadc2.Init.Resolution = ADC_RESOLUTION_12B;
hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc2.Init.GainCompensation = 0;
hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc2.Init.LowPowerAutoWait = DISABLE;
hadc2.Init.ContinuousConvMode = DISABLE;
hadc2.Init.NbrOfConversion = 2;
hadc2.Init.DiscontinuousConvMode = DISABLE;
hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T3_TRGO;
hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc2.Init.DMAContinuousRequests = ENABLE;
hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED;
hadc2.Init.OversamplingMode = DISABLE;
if (HAL_ADC_Init(&hadc2) != HAL_OK)
{
Error_Handler();
}
sConfig.Channel = ADC_CHANNEL_VOPAMP2;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
{
Error_Handler();
}
sConfig.Channel = ADC_CHANNEL_VOPAMP3_ADC2;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
{
Error_Handler();
}
}
void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
{
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if(adcHandle->Instance==ADC1)
{
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC12;
PeriphClkInit.Adc12ClockSelection = RCC_ADC12CLKSOURCE_SYSCLK;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
HAL_RCC_ADC12_CLK_ENABLED++;
if(HAL_RCC_ADC12_CLK_ENABLED==1){
__HAL_RCC_ADC12_CLK_ENABLE();
}
/* ADC1 DMA Init */
/* ADC1 Init */
hdma_adc1.Instance = DMA1_Channel1;
hdma_adc1.Init.Request = DMA_REQUEST_ADC1;
hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc1.Init.Mode = DMA_NORMAL;
hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
}
else if(adcHandle->Instance==ADC2)
{
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC12;
PeriphClkInit.Adc12ClockSelection = RCC_ADC12CLKSOURCE_SYSCLK;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
HAL_RCC_ADC12_CLK_ENABLED++;
if(HAL_RCC_ADC12_CLK_ENABLED==1){
__HAL_RCC_ADC12_CLK_ENABLE();
}
/* ADC2 DMA Init */
/* ADC2 Init */
hdma_adc2.Instance = DMA1_Channel2;
hdma_adc2.Init.Request = DMA_REQUEST_ADC2;
hdma_adc2.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc2.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc2.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc2.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc2.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc2.Init.Mode = DMA_CIRCULAR;
hdma_adc2.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_adc2) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc2);
}
}
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
{
if(adcHandle->Instance==ADC1)
{
HAL_RCC_ADC12_CLK_ENABLED--;
if(HAL_RCC_ADC12_CLK_ENABLED==0){
__HAL_RCC_ADC12_CLK_DISABLE();
}
HAL_DMA_DeInit(adcHandle->DMA_Handle);
}
else if(adcHandle->Instance==ADC2)
{
HAL_RCC_ADC12_CLK_ENABLED--;
if(HAL_RCC_ADC12_CLK_ENABLED==0){
__HAL_RCC_ADC12_CLK_DISABLE();
}
HAL_DMA_DeInit(adcHandle->DMA_Handle);
}
}

25
firmware/lib/currentsense/adc.h Normal file
View File

@@ -0,0 +1,25 @@
#ifndef __ADC_H__
#define __ADC_H__
#ifdef __cplusplus
extern "C" {
#endif
#include "stm32g4xx_hal.h"
#include "stm32g4xx_hal_adc.h"
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern DMA_HandleTypeDef hdma_adc1;
extern DMA_HandleTypeDef hdma_adc2;
void MX_ADC1_Init(void);
void MX_ADC2_Init(void);
#ifdef __cplusplus
}
#endif
#endif

26
firmware/lib/currentsense/dma.c Normal file
View File

@@ -0,0 +1,26 @@
#include "dma.h"
void MX_DMA_Init(void)
{
__HAL_RCC_DMAMUX1_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
}
extern "C" {
void DMA1_Channel1_IRQHandler(void)
{
HAL_DMA_IRQHandler(&hdma_adc1);
}
void DMA1_Channel2_IRQHandler(void)
{
HAL_DMA_IRQHandler(&hdma_adc2);
}
}

20
firmware/lib/currentsense/dma.h Normal file
View File

@@ -0,0 +1,20 @@
#ifndef __DMA_H__
#define __DMA_H__
#ifdef __cplusplus
extern "C" {
#endif
#include "stm32g4xx_hal.h"
#include "stm32g4xx_hal_dma.h"
void MX_DMA_Init(void);
void DMA1_Channel1_IRQHandler(void);
void DMA2_Channel2_IRQHandler(void);
#ifdef __cplusplus
}
#endif
#endif

77
firmware/lib/currentsense/opamp.c Normal file
View File

@@ -0,0 +1,77 @@
#include "opamp.h"
OPAMP_HandleTypeDef hopamp1;
OPAMP_HandleTypeDef hopamp2;
OPAMP_HandleTypeDef hopamp3;
void opamp_init(OPAMP_HandleTypeDef *hopamp, OPAMP_TypeDef *opamp)
{
hopamp1.Instance = opamp;
hopamp1.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
hopamp1.Init.Mode = OPAMP_PGA_MODE;
hopamp1.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO1;
hopamp1.Init.InternalOutput = ENABLE;
hopamp1.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
hopamp1.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_NO;
hopamp1.Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15; // Adjust this to change the gains of the opamp.
hopamp1.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
if (HAL_OPAMP_Init(&hopamp) != HAL_OK)
{
Error_Handler();
}
}
void configureOPAMPs(void)
{
opamp_init(&hopamp1, OPAMP1); // PA3
opamp_init(&hopamp2, OPAMP2); // PB0
opamp_init(&hopamp3, OPAMP3); // PA1
}
void HAL_OPAMP_MspInit(OPAMP_HandleTypeDef* opampHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(opampHandle->Instance==OPAMP1)
{
__HAL_RCC_GPIOA_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
else if(opampHandle->Instance==OPAMP2)
{
__HAL_RCC_GPIOB_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
else if(opampHandle->Instance==OPAMP3)
{
__HAL_RCC_GPIOA_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
}
void HAL_OPAMP_MspDeInit(OPAMP_HandleTypeDef* opampHandle)
{
if(opampHandle->Instance==OPAMP1)
{
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_3);
}
else if(opampHandle->Instance==OPAMP2)
{
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_0);
}
else if(opampHandle->Instance==OPAMP3)
{
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1);
}
}

22
firmware/lib/currentsense/opamp.h Normal file
View File

@@ -0,0 +1,22 @@
#ifndef __OPAMP_H__
#define __OPAMP_H__
#ifdef __cplusplus
extern "C" {
#endif
#include "stm32g4xx_hal.h"
#include "stm32g4xx_hal_opamp.h"
extern OPAMP_HandleTypeDef hopamp1;
extern OPAMP_HandleTypeDef hopamp2;
extern OPAMP_HandleTypeDef hopamp3;
void configureOPAMP(void);
#ifdef __cplusplus
}
#endif
#endif

97
firmware/lib/currentsense/utils.c Normal file
View File

@@ -0,0 +1,97 @@
#if
#include "adc.h"
#include "opamp.h"
#include "dma.h"
#include "Arduino-FOC/src/current_sense/hardware_api.h"
#include "Arduino-FOC/src/current_sense/hardware_specific/stm32_mcu.h"
#include "Arduino-FOC/src/drivers/hardware_specific/stm32/stm32_mcu.h"
#include "communication/SimpleFOCDebug.h"
float adcResolution = 4096.0f; // 12 bit ADC
float voltageScale = 3.3f; // full scale voltage range of ADC
float adcSens = adcResolution * voltageScale
volatile uint16_t adc1Result[2] = {0};
volatile uint16_t adc2Result[2] = {0};
float adcSens = 3.3f * 1.440f / 4096.0f;
float _readVoltageInline(const uint8_t pin, const void *cs_params)
{
switch (pin)
{
case PA3:
return adc1Result[0]; // ADC1 CH13 -> Vopamp1 internal output
break;
case PB0:
return adc2Result[0]; //ADC2 CH16 -> Vopamp2 internal output
break;
case PA1:
return adc2Result[1]; //ADC2 CH18 -> Vopamp3 internal output
break;
case TS:
return adc1Result[1];
break;
default:
return 0.0f;
break;
}
}
float _readVoltageLowSide(const int pinA, const void* cs_params){
return 0.0f;
}
void* _configureADCInline(const void *driver_params, const int pinA, const int pinB, const int pinC)
{
_UNUSED(driver_params);
HAL_Init();
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init(&hadc1);
MX_ADC2_Init(&hadc2);
configureOPAMPs();
MX_DMA1_Init(&hadc1, &hdma_adc1, DMA1_Channel1, DMA_REQUEST_ADC1);
MX_DMA1_Init(&hadc2, &hdma_adc2, DMA1_Channel2, DMA_REQUEST_ADC2);
if (HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc1Result, 1) != HAL_OK)
{
SIMPLEFOC_DEBUG("DMA1 read init failed");
}
if (HAL_ADC_Start_DMA(&hadc2, (uint32_t *)adc2Result, 2) != HAL_OK)
{
SIMPLEFOC_DEBUG("DMA2 read init failed");
}
HAL_OPAMP_Start(&hopamp1);
HAL_OPAMP_Start(&hopamp2);
HAL_OPAMP_Start(&hopamp3);
Stm32CurrentSenseParams *params = new Stm32CurrentSenseParams{
.pins = {pinA, pinB, pinC},
.adc_voltage_conv = adcSens,
.timer_handle = (HardwareTimer *)(HardwareTimer_Handle[get_timer_index(TIM3)]->__this)};
return params;
}
void* _configureADCLowSide(const void *driver_params, const int pinA, const int pinB, const int pinC)
{
_UNUSED(driver_params);
_UNUSED(pinA);
_UNUSED(pinB);
_UNUSED(pinC);
SIMPLEFOC_DEBUG("Lemon-Pepper does not use lowside sensing. Use inline current sense instead.");
return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
}
void _driverSyncLowSide(void* driver_params, void* cs_params){
}

270
firmware/src/main.cpp
View File

@@ -5,6 +5,7 @@
#include <SimpleFOC.h>
#include <SimpleFOCDrivers.h>
#include "encoders/MT6835/MagneticSensorMT6835.h"
#include "encoders/stm32hwencoder/STM32HWEncoder.h"
#include "stm32g4xx_hal_conf.h"
#include "stm32g4xx_hal_fdcan.h"
@@ -13,19 +14,23 @@
#include "dfu.h"
#include "lemon-pepper.h"
#define USBD_MANUFACTURER_STRING "matei repair lab"
#define USBD_PRODUCT_STRING_FS "lemon-pepper-stepper"
#define USBD_MANUFACTURER_STRING "matei repair lab"
#define USBD_PRODUCT_STRING_FS "lemon-pepper-stepper"
// board specific data
typedef struct
{
uint16_t signature;
int8_t electricalDir;
Direction electricalDir;
float electricalZero;
uint16_t abzResolution;
uint8_t encoderCalibrated;
uint8_t canID;
}userData;
} userData;
userData boardData;
uint8_t updateData = 0;
const uint16_t magicWord = 0xAF0C;
// canbus things
@@ -33,48 +38,96 @@ extern uint8_t TxData[8];
extern uint8_t RxData[8];
// simpleFOC things
#define POLEPAIRS 7
#define RPHASE 1.4
#define MOTORKV 1000
#define POLEPAIRS 50
#define RPHASE 3
#define MOTORKV 40
#define ENC_PPR 16383 // max 16383 (zero index) -> *4 for CPR, -1 is done in init to prevent rollover on 16 bit timer
SPISettings myMT6835SPISettings(1000000, MT6835_BITORDER, SPI_MODE3);
/**
* SPI clockdiv of 16 gives ~10.5MHz clock. May still be stable with lower divisor.
* The HW encoder is configured using PPR, which is then *4 for CPR (full 12384 gives overflow on 16 bit timer.)
*/
SPISettings myMT6835SPISettings(168000000 / 16, MT6835_BITORDER, SPI_MODE3);
MagneticSensorMT6835 sensor = MagneticSensorMT6835(ENC_CS, myMT6835SPISettings);
STM32HWEncoder enc = STM32HWEncoder(ENC_PPR, ENC_A, ENC_B, ENC_Z);
BLDCDriver3PWM driver = BLDCDriver3PWM(U_PWM, V_PWM, W_PWM, U_EN, V_EN, W_EN);
BLDCMotor motor = BLDCMotor(POLEPAIRS, RPHASE, MOTORKV);
MagneticSensorMT6701SSI enc = MagneticSensorMT6701SSI(ENC_CS);
/**
* The current sense amps have a gain of 90mA/V -> over 1.5A this is 135mA so we need gain of 24 to get full-scale.
* Actually we are limited to powers of 2 for gain. So it should be 16. This gives sensitivity of 1440mV/A.
* */
InlineCurrentSense currentsense = InlineCurrentSense(1440, ISENSE_U, ISENSE_V, ISENSE_W);
StepperDriver4PWM driver = StepperDriver4PWM(MOT_A1, MOT_A2, MOT_B1, MOT_B2);
StepperMotor motor = StepperMotor(POLEPAIRS);
Commander commander = Commander(SerialUSB);
uint16_t counter = 0;
// Prototypes
void configureFOC(void);
void configureCAN(void);
void userButton_IT(void);
uint8_t configureFOC(void);
uint8_t configureCAN(void);
uint8_t calibrateEncoder(void);
void setup()
{
// SCB->VTOR == 0x08000000;
pinMode(USER_LED, OUTPUT);
attachInterrupt(USER_BUTTON, userButton_IT, HIGH);
pinMode(LED_GOOD, OUTPUT);
pinMode(LED_FAULT, OUTPUT);
pinMode(CAL_EN, OUTPUT);
pinMode(MOT_EN, OUTPUT);
SerialUSB.begin(115200);
EEPROM.get(0, boardData);
configureCAN();
configureFOC();
digitalWrite(MOT_EN, HIGH);
digitalWrite(CAL_EN, LOW);
if(boardData.canID == 0x000)
if (!configureCAN())
SIMPLEFOC_DEBUG("CAN init failed.");
if (!configureFOC())
SIMPLEFOC_DEBUG("FOC init failed.");
if (sensor.getABZResolution() != ENC_PPR) // Check that PPR of the encoder matches our expectation.
{
// If the can ID is not initialized, then we'll look for a free ID.
boardData.canID = FDCAN_FindUniqueID();
SerialUSB.println(boardData.canID);
digitalWrite(LED_FAULT, HIGH);
SIMPLEFOC_DEBUG("Encoder ABZ resolution unexpected.");
}
if(boardData.signature != magicWord)
{
// If the EEPROM has not been initalized yet, save all the known data.
EEPROM.put(0, boardData);
}
// if (!boardData.encoderCalibrated) // If the encoder has not had self-calibration done, try.
// {
// uint8_t calibrationResult = calibrateEncoder();
// if (calibrationResult == 0x3)
// {
// boardData.encoderCalibrated = 1;
// updateData = 1;
// SIMPLEFOC_DEBUG("Encoder self calibration successful.");
// }
// else
// {
// boardData.encoderCalibrated = 0;
// digitalWrite(LED_FAULT, HIGH);
// SIMPLEFOC_DEBUG("Encoder self calibration failed! Result: %#02x", calibrationResult);
// }
// }
// if (boardData.canID == 0x000) // If the can ID is not set, then we'll look for a new, free ID.
// {
// uint8_t foundID = FDCAN_FindUniqueID();
// if (foundID != 0)
// {
// boardData.canID = foundID;
// updateData = 1;
// SIMPLEFOC_DEBUG("Unique CAN ID found: %i", foundID);
// } else {
// digitalWrite(LED_FAULT, HIGH);
// SIMPLEFOC_DEBUG("Failed to find a unique CAN ID!");
// }
// }
// if(updateData) // If the configuration data has changed at all, update the flash.
// {
// EEPROM.put(0, boardData);
// }
}
void loop()
@@ -82,10 +135,25 @@ void loop()
motor.loopFOC();
motor.move();
commander.run();
#ifdef HAS_MONITOR
if (counter == 0xFFF)
{
digitalToggle(LED_GOOD);
SerialUSB.print(sensor.getAngle());
SerialUSB.print("\t");
SerialUSB.print(enc.getAngle());
SerialUSB.print("\t");
SerialUSB.println(sensor.getABZResolution());
// SerialUSB.printf("%d\t%d\t%d\n", sensor.getAngle(), sensor.getABZResolution(), enc.getAngle());
counter = 0;
}
counter++;
#ifdef HAS_MONITOR
motor.monitor();
#endif
#endif
}
void doMotor(char *cmd)
@@ -93,71 +161,139 @@ void doMotor(char *cmd)
commander.motor(&motor, cmd);
}
void configureFOC(void){
uint8_t configureFOC(void)
{
commander.add('M', doMotor, "motor");
commander.verbose = VerboseMode::machine_readable;
#ifdef SIMPLEFOC_STM32_DEBUG
#ifdef SIMPLEFOC_STM32_DEBUG
SimpleFOCDebug::enable(&SerialUSB);
#endif
#endif
// Encoder initialization.
// Encoder on SPI1
// Ideally configuring the sensor over SPI then use STM32HWEncoder
enc.init();
if(!enc.initialized)
digitalWrite(LED_FAULT, HIGH);
sensor.init();
// Check if the encoder has loaded the right PPR, if not, update and then write to EEPROM.
if(sensor.getABZResolution() != ENC_PPR){
delay(200);
sensor.setABZResolution(ENC_PPR);
sensor.writeEEPROM();
digitalWrite(LED_GOOD, HIGH);
digitalWrite(LED_FAULT, LOW);
for(uint8_t i=0; i < 60; i++){ // Datasheet says we need to wait 6 seconds after writing EEPROM.
digitalToggle(LED_GOOD);
digitalToggle(LED_FAULT);
delay(100);
}
digitalWrite(LED_GOOD, LOW);
digitalWrite(LED_FAULT, LOW);
}
// Driver initialization.
driver.pwm_frequency = 32000;
driver.voltage_power_supply = 5;
driver.voltage_limit = 2.5;
driver.voltage_power_supply = 12;
driver.voltage_limit = driver.voltage_power_supply / 2;
driver.init();
// Motor PID parameters.
motor.PID_velocity.P = 0.2;
motor.PID_velocity.I = 3;
motor.PID_velocity.D = 0.002;
motor.PID_velocity.output_ramp = 100;
motor.LPF_velocity.Tf = 0.5;
motor.PID_velocity.P = 5;
motor.PID_velocity.I = 24;
motor.PID_velocity.D = 0.01;
motor.PID_velocity.output_ramp = 750;
motor.PID_velocity.limit = 500;
motor.LPF_velocity.Tf = 4;
motor.P_angle.P = 600;
motor.P_angle.limit = 10000;
motor.LPF_angle.Tf = 0; // try to avoid
// Motor initialization.
motor.voltage_sensor_align = 2;
motor.current_limit = 0.5;
motor.velocity_limit = 50;
// motor.voltage_sensor_align = 2;
motor.current_limit = 1;
motor.velocity_limit = 500;
motor.controller = MotionControlType::velocity;
motor.foc_modulation = FOCModulationType::SinePWM;
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
// Monitor initialization
#ifdef HAS_MONITOR
// Monitor initialization
#ifdef HAS_MONITOR
motor.useMonitoring(SerialUSB);
motor.monitor_start_char = 'M';
motor.monitor_end_char = 'M';
motor.monitor_downsample = 250;
#endif
#endif
motor.linkSensor(&enc);
motor.linkSensor(&sensor);
motor.linkDriver(&driver);
motor.target = 0;
// currentsense.linkDriver(&driver);
// currentsense.init();
if(boardData.signature != magicWord){
// If we have not initialized the EEPROM before.
motor.init();
motor.initFOC();
// motor.linkCurrentSense(&currentsense);
boardData.signature = magicWord;
boardData.electricalZero = motor.zero_electric_angle;
boardData.electricalDir = motor.sensor_direction;
}
else{
motor.zero_electric_angle = boardData.electricalZero;
motor.sensor_direction = boardData.electricalDir;
motor.init();
motor.initFOC();
}
motor.target = 10;
motor.zero_electric_angle = NOT_SET;
motor.sensor_direction = Direction::UNKNOWN;
motor.init();
motor.initFOC();
// if(boardData.signature != magicWord){
// // If we have not initialized the EEPROM before.
// motor.init();
// motor.initFOC();
// boardData.signature = magicWord;
// boardData.electricalZero = motor.zero_electric_angle;
// boardData.electricalDir = motor.sensor_direction;
// updateData = 1;
// }
// else{
// motor.zero_electric_angle = boardData.electricalZero;
// motor.sensor_direction = boardData.electricalDir;
// motor.init();
// motor.initFOC();
// }
return 1;
}
void configureCAN(void){
uint8_t configureCAN(void)
{
FDCAN_Start(0x000);
return 1;
}
uint8_t calibrateEncoder(void)
{
motor.target = 35; // roughly 2000rpm -> need to write 0x1 to Reg. AUTOCAL_FREQ
MT6835Options4 currentSettings = sensor.getOptions4();
currentSettings.autocal_freq = 0x1;
sensor.setOptions4(currentSettings);
uint16_t calTime = micros();
while (calTime - micros() < 2000000)
{
motor.loopFOC();
motor.move();
if (calTime - micros() > 2000)
{
// after motor is spinning at constant speed, enable calibration.
digitalWrite(CAL_EN, HIGH);
}
}
digitalWrite(CAL_EN, LOW);
return sensor.getCalibrationStatus();
}

24
hardware/currentsense.kicad_sch
View File

@@ -712,12 +712,12 @@
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(effects (font (size 1.27 1.27)) hide)
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(pin "1" (uuid d60ea7da-e95d-4c22-ad65-def1505307da))
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@@ -776,12 +776,12 @@
(property "LCSC Part" "C146412" (at 125.73 158.75 0)
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(pin "2" (uuid e061c3c4-4715-4c93-a856-a0881bf59bac))
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(pin "2" (uuid e061c3c4-4715-4c93-a856-a0881bf59bb0))
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(pin "2" (uuid 81d43ea9-5248-42eb-8446-126bd3fa7bc8))
(pin "2" (uuid 81d43ea9-5248-42eb-8446-126bd3fa7bc8))
(pin "6" (uuid 15056b44-bd76-49d3-97b1-8f239c766f7b))
(pin "10" (uuid 43fa4b5b-1368-473b-a20c-160035bf6d2e))
(pin "5" (uuid 9f25a38a-708f-427f-b757-bac5c276de82))

150
hardware/encoder.kicad_sch
View File

@@ -63,6 +63,61 @@
)
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(property "ki_keywords" "r resistor" (at 0 0 0)
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(effects (font (size 1.27 1.27)) hide)
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@@ -251,6 +306,9 @@
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(project "stm32g431-mt6701-stspin233"
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(reference "R?") (unit 1)
)
(path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/ed84ebbf-b2e5-4959-b495-bf58cd9b4c8c"
(reference "R203") (unit 1)
)
)
)
)
(symbol (lib_id "Device:C_Small") (at 172.72 78.74 0) (unit 1)
(in_bom yes) (on_board yes) (dnp no)
(uuid 94834f1b-05ab-4bcf-9674-3eb1092330b6)
@@ -478,6 +588,42 @@
)
)
(symbol (lib_id "power:+3V3") (at 107.95 81.28 0) (unit 1)
(in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
(uuid a957ced1-9f14-450e-a1f3-96a8f9bbe8a3)
(property "Reference" "#PWR0313" (at 107.95 85.09 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Value" "+3V3" (at 107.95 76.2 0)
(effects (font (size 1.27 1.27)))
)
(property "Footprint" "" (at 107.95 81.28 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Datasheet" "" (at 107.95 81.28 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "1" (uuid bcb42574-5cf1-4371-9c33-6adb5d7ffbc7))
(instances
(project "lemon-pepper"
(path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
(reference "#PWR0313") (unit 1)
)
(path "/0306e2fa-4433-4288-91d9-65a3484207ad/e3a86f21-c1c7-4a99-9511-7bc9966878a0"
(reference "#PWR0404") (unit 1)
)
)
(project "stm32g431-mt6701-stspin233"
(path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307"
(reference "#PWR0107") (unit 1)
)
(path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/ed84ebbf-b2e5-4959-b495-bf58cd9b4c8c"
(reference "#PWR0203") (unit 1)
)
)
)
)
(symbol (lib_id "matei:MT6835") (at 146.05 96.52 0) (unit 1)
(in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
(uuid efd8885f-06c2-415b-876b-2a36a953a464)

93662
hardware/fp-info-cache
View File

File diff suppressed because it is too large Load Diff

9818
hardware/lemon-pepper.kicad_pcb
View File

File diff suppressed because it is too large Load Diff

6
hardware/lemon-pepper.kicad_prl
View File

@@ -17,11 +17,11 @@
"selection_filter": {
"dimensions": true,
"footprints": true,
"graphics": true,
"graphics": false,
"keepouts": true,
"lockedItems": true,
"otherItems": true,
"pads": true,
"pads": false,
"text": true,
"tracks": true,
"vias": true,
@@ -63,7 +63,7 @@
39,
40
],
"visible_layers": "fffffff_ffffffff",
"visible_layers": "fffffef_ffffffff",
"zone_display_mode": 0
},
"meta": {

12
hardware/lemon-pepper.kicad_sch
View File

@@ -1618,10 +1618,10 @@
(property "LCSC Part" "" (at 269.24 130.81 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "1" (uuid 40c1064e-5ba1-4eda-94cf-381bb0c78a56))
(pin "2" (uuid 186097f2-7f16-4ac9-8b32-eb08d546af74))
(pin "3" (uuid 578107bb-4829-4c13-9087-25c44ff0beea))
(pin "4" (uuid 988d197d-90b5-45c7-bbf9-3bf546cafa37))
(pin "1" (uuid 1606d6d0-aa5d-4923-aecc-4b057e0e213e))
(pin "2" (uuid e07c4f63-ae39-4620-b6c0-eb1d24528e52))
(pin "3" (uuid 8cf7ec5a-45c8-48de-b2a0-37678aa497a8))
(pin "4" (uuid 79bbdef5-7154-4313-a736-f5bad048cbd1))
(instances
(project "lemon-pepper"
(path "/0306e2fa-4433-4288-91d9-65a3484207ad"
@@ -2000,7 +2000,7 @@
)
(symbol (lib_id "Jumper:SolderJumper_2_Open") (at 69.85 110.49 90) (mirror x) (unit 1)
(in_bom no) (on_board yes) (dnp no)
(in_bom no) (on_board yes) (dnp yes)
(uuid e22d205f-8c28-4a2e-8942-03f2906b8179)
(property "Reference" "JP101" (at 67.31 109.22 90)
(effects (font (size 1.27 1.27)) (justify left))
@@ -2008,7 +2008,7 @@
(property "Value" "TERM" (at 67.31 111.76 90)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Footprint" "Jumper:SolderJumper-2_P1.3mm_Open_RoundedPad1.0x1.5mm" (at 69.85 110.49 0)
(property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 69.85 110.49 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Datasheet" "~" (at 69.85 110.49 0)

322
hardware/lemon-pepper.xml
View File

@@ -2,7 +2,7 @@
<export version="E">
<design>
<source>/Users/mateijordache/Documents/electronics_projects/lemon-pepper-stepper/hardware/lemon-pepper.kicad_sch</source>
<date>2023 October 21, Saturday 20:39:57</date>
<date>2023 November 08, Wednesday 15:44:36</date>
<tool>Eeschema 7.0.8</tool>
<sheet number="1" name="/" tstamps="/">
<title_block>
@@ -401,25 +401,6 @@
<sheetpath names="/usb/" tstamps="/3af4e77c-61b4-4c93-bd22-ce60f55b568c/"/>
<tstamps>8f38dda2-81f2-49ba-949e-98b121097ad0</tstamps>
</comp>
<comp ref="D201">
<value>1N4148WS</value>
<footprint>Diode_SMD:D_SOD-323</footprint>
<fields>
<field name="LCSC Part">C2128</field>
<field name="Sim.Device">D</field>
<field name="Sim.Pins">1=K 2=A</field>
</fields>
<libsource lib="Device" part="D" description="Diode"/>
<property name="Sim.Device" value="D"/>
<property name="Sim.Pins" value="1=K 2=A"/>
<property name="LCSC Part" value="C2128"/>
<property name="Sheetname" value="usb"/>
<property name="Sheetfile" value="usb.kicad_sch"/>
<property name="ki_description" value="Diode"/>
<property name="ki_keywords" value="diode"/>
<sheetpath names="/usb/" tstamps="/3af4e77c-61b4-4c93-bd22-ce60f55b568c/"/>
<tstamps>68b1a8c4-1258-4055-9cf5-0723ea413e16</tstamps>
</comp>
<comp ref="J201">
<value>USB_C_Receptacle_USB2.0</value>
<footprint>easyeda2kicad:USB-C-SMD_GT-USB-7052_1</footprint>
@@ -709,6 +690,21 @@
<sheetpath names="/encoder/" tstamps="/e3a86f21-c1c7-4a99-9511-7bc9966878a0/"/>
<tstamps>94834f1b-05ab-4bcf-9674-3eb1092330b6</tstamps>
</comp>
<comp ref="R401">
<value>10k</value>
<footprint>Resistor_SMD:R_0402_1005Metric</footprint>
<fields>
<field name="LCSC Part">C25744</field>
</fields>
<libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
<property name="LCSC Part" value="C25744"/>
<property name="Sheetname" value="encoder"/>
<property name="Sheetfile" value="encoder.kicad_sch"/>
<property name="ki_description" value="Resistor, small US symbol"/>
<property name="ki_keywords" value="r resistor"/>
<sheetpath names="/encoder/" tstamps="/e3a86f21-c1c7-4a99-9511-7bc9966878a0/"/>
<tstamps>6ce927d7-7f7d-4606-9fa7-f6da06fdd47b</tstamps>
</comp>
<comp ref="U401">
<value>MT6835</value>
<footprint>matei:MagnTek TSSOP-16-1EP_4.4x5mm_P0.65mm</footprint>
@@ -1080,7 +1076,7 @@
<tstamps>fbe8f6af-e1ab-4e9c-b5a0-b04f9287fd9d</tstamps>
</comp>
<comp ref="U701">
<value>ACS711KEXLT-31AB-T</value>
<value>ACS711KEXLT-15AB-T</value>
<footprint>easyeda2kicad:IC-SMD_ACS711KEXLT-15AB-T</footprint>
<datasheet>https://lcsc.com/product-detail/Sensors_ALLEGRO_ACS711KEXLT-31AB-T_ACS711KEXLT-31AB-T_C146412.html</datasheet>
<fields>
@@ -1094,7 +1090,7 @@
<tstamps>1fdbef95-c635-476e-8a1d-9081026400e9</tstamps>
</comp>
<comp ref="U702">
<value>ACS711KEXLT-31AB-T</value>
<value>ACS711KEXLT-15AB-T</value>
<footprint>easyeda2kicad:IC-SMD_ACS711KEXLT-15AB-T</footprint>
<datasheet>https://lcsc.com/product-detail/Sensors_ALLEGRO_ACS711KEXLT-31AB-T_ACS711KEXLT-31AB-T_C146412.html</datasheet>
<fields>
@@ -1108,7 +1104,7 @@
<tstamps>8db00d14-4564-42f4-bc73-99e1bbe4542d</tstamps>
</comp>
<comp ref="U703">
<value>ACS711KEXLT-31AB-T</value>
<value>ACS711KEXLT-15AB-T</value>
<footprint>easyeda2kicad:IC-SMD_ACS711KEXLT-15AB-T</footprint>
<datasheet>https://lcsc.com/product-detail/Sensors_ALLEGRO_ACS711KEXLT-31AB-T_ACS711KEXLT-31AB-T_C146412.html</datasheet>
<fields>
@@ -1557,16 +1553,16 @@
<field name="LCSC Part">C146412</field>
</fields>
<pins>
<pin num="1" name="IP+" type="unspecified"/>
<pin num="2" name="IP-" type="unspecified"/>
<pin num="5" name="GND" type="unspecified"/>
<pin num="6" name="#FAULT" type="unspecified"/>
<pin num="7" name="NC" type="unspecified"/>
<pin num="8" name="NC" type="unspecified"/>
<pin num="9" name="NC" type="unspecified"/>
<pin num="10" name="NC" type="unspecified"/>
<pin num="11" name="VIOUT" type="unspecified"/>
<pin num="12" name="VCC" type="unspecified"/>
<pin num="1" name="IP+" type="bidirectional"/>
<pin num="2" name="IP-" type="bidirectional"/>
<pin num="5" name="GND" type="power_in"/>
<pin num="6" name="#FAULT" type="output"/>
<pin num="7" name="NC" type="passive"/>
<pin num="8" name="NC" type="passive"/>
<pin num="9" name="NC" type="passive"/>
<pin num="10" name="NC" type="passive"/>
<pin num="11" name="VIOUT" type="output"/>
<pin num="12" name="VCC" type="power_in"/>
</pins>
</libpart>
<libpart lib="easyeda2kicad" part="L6226QTR">
@@ -1589,8 +1585,8 @@
<pin num="8" name="NC" type="passive"/>
<pin num="9" name="OUT1B" type="output"/>
<pin num="10" name="NC" type="passive"/>
<pin num="11" name="OCDB" type="output"/>
<pin num="12" name="SENSEB" type="output"/>
<pin num="11" name="OCDB" type="open_emitter"/>
<pin num="12" name="SENSEB" type="passive"/>
<pin num="13" name="IN1B" type="input"/>
<pin num="14" name="IN2B" type="input"/>
<pin num="15" name="PROGCLB" type="input"/>
@@ -1599,16 +1595,16 @@
<pin num="18" name="NC" type="passive"/>
<pin num="19" name="OUT2B" type="output"/>
<pin num="20" name="VSB" type="power_in"/>
<pin num="21" name="GND" type="power_out"/>
<pin num="21" name="GND" type="passive"/>
<pin num="22" name="VSA" type="power_in"/>
<pin num="23" name="OUT2A" type="power_in"/>
<pin num="23" name="OUT2A" type="output"/>
<pin num="24" name="VCP" type="passive"/>
<pin num="25" name="ENA" type="input"/>
<pin num="26" name="PROGCLA" type="input"/>
<pin num="27" name="IN1A" type="input"/>
<pin num="28" name="IN2A" type="input"/>
<pin num="29" name="SENSEA" type="output"/>
<pin num="30" name="OCDA" type="output"/>
<pin num="29" name="SENSEA" type="passive"/>
<pin num="30" name="OCDA" type="open_emitter"/>
<pin num="31" name="OUT1A" type="output"/>
<pin num="32" name="NC" type="passive"/>
<pin num="33" name="EP" type="passive"/>
@@ -1622,14 +1618,14 @@
<field name="LCSC Part">C1121853</field>
</fields>
<pins>
<pin num="1" name="VIN" type="unspecified"/>
<pin num="2" name="EN/UVLO" type="unspecified"/>
<pin num="3" name="VCC" type="unspecified"/>
<pin num="4" name="FB/VOUT" type="unspecified"/>
<pin num="5" name="MODE" type="unspecified"/>
<pin num="6" name="~{RESET}" type="unspecified"/>
<pin num="7" name="GND" type="unspecified"/>
<pin num="8" name="LX" type="unspecified"/>
<pin num="1" name="VIN" type="power_in"/>
<pin num="2" name="EN/UVLO" type="input"/>
<pin num="3" name="VCC" type="power_out"/>
<pin num="4" name="FB/VOUT" type="input"/>
<pin num="5" name="MODE" type="input"/>
<pin num="6" name="~{RESET}" type="input"/>
<pin num="7" name="GND" type="power_in"/>
<pin num="8" name="LX" type="power_out"/>
</pins>
</libpart>
<libpart lib="matei" part="MT6835">
@@ -1651,9 +1647,9 @@
<pin num="8" name="CSN" type="input"/>
<pin num="9" name="VDD" type="power_in"/>
<pin num="10" name="PWM_OUT" type="output"/>
<pin num="11" name="TEST" type="no_connect"/>
<pin num="12" name="VSS" type="power_out"/>
<pin num="13" name="TEST_EN" type="no_connect"/>
<pin num="11" name="TEST" type="input"/>
<pin num="12" name="VSS" type="power_in"/>
<pin num="13" name="TEST_EN" type="input"/>
<pin num="14" name="Z" type="output"/>
<pin num="15" name="B" type="output"/>
<pin num="16" name="A" type="output"/>
@@ -1707,6 +1703,7 @@
<node ref="C503" pin="1" pintype="passive"/>
<node ref="L501" pin="2" pintype="passive"/>
<node ref="R306" pin="1" pintype="passive"/>
<node ref="R401" pin="1" pintype="passive"/>
<node ref="R501" pin="1" pintype="passive"/>
<node ref="R601" pin="2" pintype="passive"/>
<node ref="U301" pin="21" pinfunction="VDDA" pintype="power_in"/>
@@ -1715,55 +1712,55 @@
<node ref="U301" pin="48" pinfunction="VDD" pintype="power_in"/>
<node ref="U302" pin="3" pinfunction="VCC" pintype="power_in"/>
<node ref="U401" pin="9" pinfunction="VDD" pintype="power_in"/>
<node ref="U701" pin="12" pinfunction="VCC" pintype="unspecified"/>
<node ref="U702" pin="12" pinfunction="VCC" pintype="unspecified"/>
<node ref="U703" pin="12" pinfunction="VCC" pintype="unspecified"/>
<node ref="U701" pin="12" pinfunction="VCC" pintype="power_in"/>
<node ref="U702" pin="12" pinfunction="VCC" pintype="power_in"/>
<node ref="U703" pin="12" pinfunction="VCC" pintype="power_in"/>
</net>
<net code="2" name="/current sense/U_IN">
<node ref="U601" pin="23" pinfunction="OUT2A" pintype="power_in"/>
<node ref="U701" pin="1" pinfunction="IP+" pintype="unspecified"/>
<node ref="U601" pin="23" pinfunction="OUT2A" pintype="output"/>
<node ref="U701" pin="1" pinfunction="IP+" pintype="bidirectional"/>
</net>
<net code="3" name="/current sense/U_OUT">
<node ref="M101" pin="1" pintype="passive"/>
<node ref="U701" pin="2" pinfunction="IP-" pintype="unspecified"/>
<node ref="U701" pin="2" pinfunction="IP-" pintype="bidirectional"/>
</net>
<net code="4" name="/current sense/U_SENSE">
<node ref="C701" pin="1" pintype="passive"/>
<node ref="U301" pin="11" pinfunction="PA3" pintype="bidirectional"/>
<node ref="U701" pin="11" pinfunction="VIOUT" pintype="unspecified"/>
<node ref="U701" pin="11" pinfunction="VIOUT" pintype="output"/>
</net>
<net code="5" name="/current sense/V_IN">
<node ref="U601" pin="31" pinfunction="OUT1A" pintype="output"/>
<node ref="U702" pin="1" pinfunction="IP+" pintype="unspecified"/>
<node ref="U702" pin="1" pinfunction="IP+" pintype="bidirectional"/>
</net>
<net code="6" name="/current sense/V_OUT">
<node ref="M101" pin="4" pintype="passive"/>
<node ref="U702" pin="2" pinfunction="IP-" pintype="unspecified"/>
<node ref="U702" pin="2" pinfunction="IP-" pintype="bidirectional"/>
</net>
<net code="7" name="/current sense/V_SENSE">
<node ref="C702" pin="1" pintype="passive"/>
<node ref="U301" pin="26" pinfunction="PB13" pintype="bidirectional"/>
<node ref="U702" pin="11" pinfunction="VIOUT" pintype="unspecified"/>
<node ref="U702" pin="11" pinfunction="VIOUT" pintype="output"/>
</net>
<net code="8" name="/current sense/W_IN">
<node ref="U601" pin="19" pinfunction="OUT2B" pintype="output"/>
<node ref="U703" pin="1" pinfunction="IP+" pintype="unspecified"/>
<node ref="U703" pin="1" pinfunction="IP+" pintype="bidirectional"/>
</net>
<net code="9" name="/current sense/W_OUT">
<node ref="M101" pin="2" pinfunction="-" pintype="passive"/>
<node ref="U703" pin="2" pinfunction="IP-" pintype="unspecified"/>
<node ref="U703" pin="2" pinfunction="IP-" pintype="bidirectional"/>
</net>
<net code="10" name="/current sense/W_SENSE">
<node ref="C703" pin="1" pintype="passive"/>
<node ref="U301" pin="17" pinfunction="PB0" pintype="bidirectional"/>
<node ref="U703" pin="11" pinfunction="VIOUT" pintype="unspecified"/>
<node ref="U703" pin="11" pinfunction="VIOUT" pintype="output"/>
</net>
<net code="11" name="/encoder/A">
<node ref="U301" pin="41" pinfunction="PB3" pintype="bidirectional"/>
<node ref="U301" pin="42" pinfunction="PB4" pintype="bidirectional"/>
<node ref="U401" pin="16" pinfunction="A" pintype="output"/>
</net>
<net code="12" name="/encoder/B">
<node ref="U301" pin="42" pinfunction="PB4" pintype="bidirectional"/>
<node ref="U301" pin="43" pinfunction="PB5" pintype="bidirectional"/>
<node ref="U401" pin="15" pinfunction="B" pintype="output"/>
</net>
<net code="13" name="/encoder/CAL_EN">
@@ -1779,6 +1776,7 @@
<node ref="U401" pin="6" pinfunction="MOSI" pintype="input"/>
</net>
<net code="16" name="/encoder/CS">
<node ref="R401" pin="2" pintype="passive"/>
<node ref="U301" pin="16" pinfunction="PC4" pintype="bidirectional"/>
<node ref="U401" pin="8" pinfunction="CSN" pintype="input"/>
</net>
@@ -1787,7 +1785,7 @@
<node ref="U401" pin="7" pinfunction="SCK" pintype="input"/>
</net>
<net code="18" name="/encoder/Z">
<node ref="U301" pin="43" pinfunction="PB5" pintype="bidirectional"/>
<node ref="U301" pin="41" pinfunction="PB3" pintype="bidirectional"/>
<node ref="U401" pin="14" pinfunction="Z" pintype="output"/>
</net>
<net code="19" name="/half bridges/ENA">
@@ -1836,30 +1834,24 @@
</net>
<net code="29" name="/mcu/DIR">
<node ref="R104" pin="2" pintype="passive"/>
<node ref="U301" pin="28" pinfunction="PB15" pintype="bidirectional"/>
</net>
<net code="30" name="/mcu/MOT_EN_A">
<node ref="U301" pin="30" pinfunction="PA8" pintype="bidirectional"/>
</net>
<net code="31" name="/mcu/MOT_EN_B">
<node ref="U301" pin="29" pinfunction="PC6" pintype="bidirectional"/>
</net>
<net code="32" name="/mcu/RESET">
<net code="30" name="/mcu/RESET">
<node ref="C308" pin="1" pintype="passive"/>
<node ref="R306" pin="2" pintype="passive"/>
<node ref="U301" pin="7" pinfunction="PG10" pintype="bidirectional"/>
</net>
<net code="33" name="/mcu/STEP">
<net code="31" name="/mcu/STEP">
<node ref="R105" pin="1" pintype="passive"/>
<node ref="U301" pin="27" pinfunction="PB14" pintype="bidirectional"/>
<node ref="U301" pin="40" pinfunction="PC11" pintype="bidirectional"/>
</net>
<net code="34" name="/mcu/SWCLK">
<net code="32" name="/mcu/SWCLK">
<node ref="U301" pin="37" pinfunction="PA14" pintype="bidirectional"/>
</net>
<net code="35" name="/mcu/SWDIO">
<net code="33" name="/mcu/SWDIO">
<node ref="U301" pin="36" pinfunction="PA13" pintype="bidirectional"/>
</net>
<net code="36" name="/mcu/USBD_N">
<net code="34" name="/mcu/USBD_N">
<node ref="C201" pin="1" pintype="passive"/>
<node ref="J201" pin="A7" pinfunction="D-" pintype="bidirectional"/>
<node ref="J201" pin="B7" pinfunction="D-" pintype="bidirectional"/>
@@ -1867,7 +1859,7 @@
<node ref="U201" pin="4" pinfunction="IO3" pintype="passive"/>
<node ref="U301" pin="33" pinfunction="PA11" pintype="bidirectional"/>
</net>
<net code="37" name="/mcu/USBD_P">
<net code="35" name="/mcu/USBD_P">
<node ref="C202" pin="1" pintype="passive"/>
<node ref="J201" pin="A6" pinfunction="D+" pintype="bidirectional"/>
<node ref="J201" pin="B6" pinfunction="D+" pintype="bidirectional"/>
@@ -1875,33 +1867,32 @@
<node ref="U201" pin="6" pinfunction="IO4" pintype="passive"/>
<node ref="U301" pin="34" pinfunction="PA12" pintype="bidirectional"/>
</net>
<net code="38" name="/mcu/XIN">
<net code="36" name="/mcu/XIN">
<node ref="C305" pin="1" pintype="passive"/>
<node ref="U301" pin="5" pinfunction="PF0" pintype="bidirectional"/>
<node ref="Y301" pin="1" pinfunction="1" pintype="passive"/>
</net>
<net code="39" name="/mcu/XOUT">
<net code="37" name="/mcu/XOUT">
<node ref="C306" pin="1" pintype="passive"/>
<node ref="U301" pin="6" pinfunction="PF1" pintype="bidirectional"/>
<node ref="Y301" pin="3" pinfunction="3" pintype="passive"/>
</net>
<net code="40" name="/usb/UCPD_CC1">
<net code="38" name="/usb/UCPD_CC1">
<node ref="J201" pin="A5" pinfunction="CC1" pintype="bidirectional"/>
<node ref="R102" pin="1" pintype="passive"/>
</net>
<net code="41" name="/usb/UCPD_CC2">
<net code="39" name="/usb/UCPD_CC2">
<node ref="J201" pin="B5" pinfunction="CC2" pintype="bidirectional"/>
<node ref="R101" pin="2" pintype="passive"/>
</net>
<net code="42" name="/usb/USB_5V">
<node ref="D201" pin="2" pinfunction="A" pintype="passive"/>
<net code="40" name="/usb/USB_5V">
<node ref="J201" pin="A4" pinfunction="VBUS" pintype="passive"/>
<node ref="J201" pin="A9" pinfunction="VBUS" pintype="passive"/>
<node ref="J201" pin="B4" pinfunction="VBUS" pintype="passive"/>
<node ref="J201" pin="B9" pinfunction="VBUS" pintype="passive"/>
<node ref="U201" pin="5" pinfunction="VP" pintype="passive"/>
</net>
<net code="43" name="GND">
<net code="41" name="GND">
<node ref="C101" pin="1" pintype="passive"/>
<node ref="C102" pin="2" pintype="passive"/>
<node ref="C103" pin="1" pintype="passive"/>
@@ -1941,18 +1932,20 @@
<node ref="U301" pin="49" pinfunction="VSS" pintype="power_in"/>
<node ref="U302" pin="2" pinfunction="GND" pintype="power_in"/>
<node ref="U302" pin="8" pinfunction="Rs" pintype="input"/>
<node ref="U401" pin="12" pinfunction="VSS" pintype="power_out"/>
<node ref="U501" pin="5" pinfunction="MODE" pintype="unspecified"/>
<node ref="U501" pin="7" pinfunction="GND" pintype="unspecified"/>
<node ref="U401" pin="11" pinfunction="TEST" pintype="input"/>
<node ref="U401" pin="12" pinfunction="VSS" pintype="power_in"/>
<node ref="U401" pin="13" pinfunction="TEST_EN" pintype="input"/>
<node ref="U501" pin="5" pinfunction="MODE" pintype="input"/>
<node ref="U501" pin="7" pinfunction="GND" pintype="power_in"/>
<node ref="U601" pin="1" pinfunction="GND" pintype="power_out"/>
<node ref="U601" pin="10" pinfunction="NC" pintype="passive"/>
<node ref="U601" pin="12" pinfunction="SENSEB" pintype="output"/>
<node ref="U601" pin="12" pinfunction="SENSEB" pintype="passive"/>
<node ref="U601" pin="15" pinfunction="PROGCLB" pintype="input"/>
<node ref="U601" pin="18" pinfunction="NC" pintype="passive"/>
<node ref="U601" pin="2" pinfunction="NC" pintype="passive"/>
<node ref="U601" pin="21" pinfunction="GND" pintype="power_out"/>
<node ref="U601" pin="21" pinfunction="GND" pintype="passive"/>
<node ref="U601" pin="26" pinfunction="PROGCLA" pintype="input"/>
<node ref="U601" pin="29" pinfunction="SENSEA" pintype="output"/>
<node ref="U601" pin="29" pinfunction="SENSEA" pintype="passive"/>
<node ref="U601" pin="3" pinfunction="NC" pintype="passive"/>
<node ref="U601" pin="32" pinfunction="NC" pintype="passive"/>
<node ref="U601" pin="33" pinfunction="EP" pintype="passive"/>
@@ -1964,108 +1957,107 @@
<node ref="Y301" pin="2" pinfunction="2" pintype="passive"/>
<node ref="Y301" pin="4" pinfunction="4" pintype="passive"/>
</net>
<net code="44" name="GNDA">
<net code="42" name="GNDA">
<node ref="C701" pin="2" pintype="passive"/>
<node ref="C702" pin="2" pintype="passive"/>
<node ref="C703" pin="2" pintype="passive"/>
<node ref="U701" pin="10" pinfunction="NC" pintype="unspecified"/>
<node ref="U701" pin="5" pinfunction="GND" pintype="unspecified"/>
<node ref="U701" pin="7" pinfunction="NC" pintype="unspecified"/>
<node ref="U701" pin="8" pinfunction="NC" pintype="unspecified"/>
<node ref="U701" pin="9" pinfunction="NC" pintype="unspecified"/>
<node ref="U702" pin="10" pinfunction="NC" pintype="unspecified"/>
<node ref="U702" pin="5" pinfunction="GND" pintype="unspecified"/>
<node ref="U702" pin="7" pinfunction="NC" pintype="unspecified"/>
<node ref="U702" pin="8" pinfunction="NC" pintype="unspecified"/>
<node ref="U702" pin="9" pinfunction="NC" pintype="unspecified"/>
<node ref="U703" pin="10" pinfunction="NC" pintype="unspecified"/>
<node ref="U703" pin="5" pinfunction="GND" pintype="unspecified"/>
<node ref="U703" pin="7" pinfunction="NC" pintype="unspecified"/>
<node ref="U703" pin="8" pinfunction="NC" pintype="unspecified"/>
<node ref="U703" pin="9" pinfunction="NC" pintype="unspecified"/>
<node ref="U701" pin="10" pinfunction="NC" pintype="passive"/>
<node ref="U701" pin="5" pinfunction="GND" pintype="power_in"/>
<node ref="U701" pin="7" pinfunction="NC" pintype="passive"/>
<node ref="U701" pin="8" pinfunction="NC" pintype="passive"/>
<node ref="U701" pin="9" pinfunction="NC" pintype="passive"/>
<node ref="U702" pin="10" pinfunction="NC" pintype="passive"/>
<node ref="U702" pin="5" pinfunction="GND" pintype="power_in"/>
<node ref="U702" pin="7" pinfunction="NC" pintype="passive"/>
<node ref="U702" pin="8" pinfunction="NC" pintype="passive"/>
<node ref="U702" pin="9" pinfunction="NC" pintype="passive"/>
<node ref="U703" pin="10" pinfunction="NC" pintype="passive"/>
<node ref="U703" pin="5" pinfunction="GND" pintype="power_in"/>
<node ref="U703" pin="7" pinfunction="NC" pintype="passive"/>
<node ref="U703" pin="8" pinfunction="NC" pintype="passive"/>
<node ref="U703" pin="9" pinfunction="NC" pintype="passive"/>
</net>
<net code="45" name="Net-(D301-A)">
<net code="43" name="Net-(D301-A)">
<node ref="D301" pin="2" pinfunction="A" pintype="passive"/>
<node ref="R301" pin="2" pintype="passive"/>
</net>
<net code="46" name="Net-(D302-A)">
<net code="44" name="Net-(D302-A)">
<node ref="D302" pin="2" pinfunction="A" pintype="passive"/>
<node ref="R302" pin="2" pintype="passive"/>
</net>
<net code="47" name="Net-(D501-A)">
<net code="45" name="Net-(D501-A)">
<node ref="D501" pin="2" pinfunction="A" pintype="passive"/>
<node ref="D502" pin="1" pinfunction="K" pintype="passive"/>
</net>
<net code="48" name="Net-(D502-A)">
<net code="46" name="Net-(D502-A)">
<node ref="D502" pin="2" pinfunction="A" pintype="passive"/>
<node ref="R505" pin="1" pintype="passive"/>
</net>
<net code="49" name="Net-(D601-A)">
<net code="47" name="Net-(D601-A)">
<node ref="D601" pin="2" pinfunction="A" pintype="passive"/>
<node ref="R601" pin="1" pintype="passive"/>
</net>
<net code="50" name="Net-(D601-K)">
<net code="48" name="Net-(D601-K)">
<node ref="D601" pin="1" pinfunction="K" pintype="passive"/>
<node ref="U601" pin="11" pinfunction="OCDB" pintype="output"/>
<node ref="U601" pin="30" pinfunction="OCDA" pintype="output"/>
<node ref="U601" pin="11" pinfunction="OCDB" pintype="open_emitter"/>
<node ref="U601" pin="30" pinfunction="OCDA" pintype="open_emitter"/>
</net>
<net code="51" name="Net-(D602-K)">
<net code="49" name="Net-(D602-K)">
<node ref="C601" pin="1" pintype="passive"/>
<node ref="D602" pin="1" pinfunction="K" pintype="passive"/>
<node ref="D603" pin="2" pinfunction="A" pintype="passive"/>
</net>
<net code="52" name="Net-(D603-K)">
<net code="50" name="Net-(D603-K)">
<node ref="C602" pin="1" pintype="passive"/>
<node ref="D603" pin="1" pinfunction="K" pintype="passive"/>
<node ref="U601" pin="17" pinfunction="VBOOT" pintype="passive"/>
</net>
<net code="53" name="Net-(JP101-B)">
<net code="51" name="Net-(JP101-B)">
<node ref="R103" pin="2" pintype="passive"/>
</net>
<net code="54" name="Net-(Q501-B)">
<net code="52" name="Net-(Q501-B)">
<node ref="Q501" pin="1" pinfunction="B" pintype="input"/>
<node ref="R505" pin="2" pintype="passive"/>
</net>
<net code="55" name="Net-(Q501-C)">
<net code="53" name="Net-(Q501-C)">
<node ref="Q501" pin="3" pinfunction="C" pintype="passive"/>
<node ref="R504" pin="2" pintype="passive"/>
</net>
<net code="56" name="Net-(R502-Pad2)">
<net code="54" name="Net-(R502-Pad2)">
<node ref="R502" pin="2" pintype="passive"/>
<node ref="R503" pin="1" pintype="passive"/>
</net>
<net code="57" name="Net-(U301-PB10)">
<net code="55" name="Net-(U301-PB10)">
<node ref="R301" pin="1" pintype="passive"/>
<node ref="U301" pin="22" pinfunction="PB10" pintype="bidirectional"/>
</net>
<net code="58" name="Net-(U301-PB11)">
<net code="56" name="Net-(U301-PB11)">
<node ref="R302" pin="1" pintype="passive"/>
<node ref="U301" pin="24" pinfunction="PB11" pintype="bidirectional"/>
</net>
<net code="59" name="Net-(U301-VREF+)">
<net code="57" name="Net-(U301-VREF+)">
<node ref="C301" pin="1" pintype="passive"/>
<node ref="C307" pin="1" pintype="passive"/>
<node ref="U301" pin="20" pinfunction="VREF+" pintype="input"/>
</net>
<net code="60" name="Net-(U501-FB{slash}VOUT)">
<net code="58" name="Net-(U501-FB{slash}VOUT)">
<node ref="R501" pin="2" pintype="passive"/>
<node ref="R502" pin="1" pintype="passive"/>
<node ref="U501" pin="4" pinfunction="FB/VOUT" pintype="unspecified"/>
<node ref="U501" pin="4" pinfunction="FB/VOUT" pintype="input"/>
</net>
<net code="61" name="Net-(U501-LX)">
<net code="59" name="Net-(U501-LX)">
<node ref="L501" pin="1" pintype="passive"/>
<node ref="U501" pin="8" pinfunction="LX" pintype="unspecified"/>
<node ref="U501" pin="8" pinfunction="LX" pintype="power_out"/>
</net>
<net code="62" name="Net-(U501-VCC)">
<net code="60" name="Net-(U501-VCC)">
<node ref="C502" pin="1" pintype="passive"/>
<node ref="U501" pin="3" pinfunction="VCC" pintype="unspecified"/>
<node ref="U501" pin="6" pinfunction="~{RESET}" pintype="unspecified"/>
<node ref="U501" pin="3" pinfunction="VCC" pintype="power_out"/>
</net>
<net code="63" name="Net-(U601-VCP)">
<net code="61" name="Net-(U601-VCP)">
<node ref="C601" pin="2" pintype="passive"/>
<node ref="U601" pin="24" pinfunction="VCP" pintype="passive"/>
</net>
<net code="64" name="Vmot">
<net code="62" name="Vmot">
<node ref="C101" pin="2" pintype="passive"/>
<node ref="C102" pin="1" pintype="passive"/>
<node ref="C103" pin="2" pintype="passive"/>
@@ -2077,45 +2069,50 @@
<node ref="C501" pin="1" pintype="passive"/>
<node ref="C602" pin="2" pintype="passive"/>
<node ref="D101" pin="1" pinfunction="K" pintype="passive"/>
<node ref="D201" pin="1" pinfunction="K" pintype="passive"/>
<node ref="D501" pin="1" pinfunction="K" pintype="passive"/>
<node ref="D602" pin="2" pinfunction="A" pintype="passive"/>
<node ref="J101" pin="1" pinfunction="Pin_1" pintype="passive"/>
<node ref="R504" pin="1" pintype="passive"/>
<node ref="U501" pin="1" pinfunction="VIN" pintype="unspecified"/>
<node ref="U501" pin="2" pinfunction="EN/UVLO" pintype="unspecified"/>
<node ref="U501" pin="1" pinfunction="VIN" pintype="power_in"/>
<node ref="U501" pin="2" pinfunction="EN/UVLO" pintype="input"/>
<node ref="U601" pin="20" pinfunction="VSB" pintype="power_in"/>
<node ref="U601" pin="22" pinfunction="VSA" pintype="power_in"/>
</net>
<net code="65" name="unconnected-(J201-SBU1-PadA8)">
<net code="63" name="unconnected-(J201-SBU1-PadA8)">
<node ref="J201" pin="A8" pinfunction="SBU1" pintype="bidirectional+no_connect"/>
</net>
<net code="66" name="unconnected-(J201-SBU2-PadB8)">
<net code="64" name="unconnected-(J201-SBU2-PadB8)">
<node ref="J201" pin="B8" pinfunction="SBU2" pintype="bidirectional+no_connect"/>
</net>
<net code="68" name="unconnected-(U301-PA2-Pad10)">
<net code="66" name="unconnected-(U301-PA2-Pad10)">
<node ref="U301" pin="10" pinfunction="PA2" pintype="bidirectional+no_connect"/>
</net>
<net code="69" name="unconnected-(U301-PA15-Pad38)">
<net code="67" name="unconnected-(U301-PA15-Pad38)">
<node ref="U301" pin="38" pinfunction="PA15" pintype="bidirectional+no_connect"/>
</net>
<net code="70" name="unconnected-(U301-PB1-Pad18)">
<net code="68" name="unconnected-(U301-PB1-Pad18)">
<node ref="U301" pin="18" pinfunction="PB1" pintype="bidirectional+no_connect"/>
</net>
<net code="71" name="unconnected-(U301-PB2-Pad19)">
<net code="69" name="unconnected-(U301-PB2-Pad19)">
<node ref="U301" pin="19" pinfunction="PB2" pintype="bidirectional+no_connect"/>
</net>
<net code="72" name="unconnected-(U301-PB6-Pad44)">
<net code="70" name="unconnected-(U301-PB6-Pad44)">
<node ref="U301" pin="44" pinfunction="PB6" pintype="bidirectional+no_connect"/>
</net>
<net code="73" name="unconnected-(U301-PB7-Pad45)">
<net code="71" name="unconnected-(U301-PB7-Pad45)">
<node ref="U301" pin="45" pinfunction="PB7" pintype="bidirectional+no_connect"/>
</net>
<net code="74" name="unconnected-(U301-PC10-Pad39)">
<node ref="U301" pin="39" pinfunction="PC10" pintype="bidirectional+no_connect"/>
<net code="72" name="unconnected-(U301-PB14-Pad27)">
<node ref="U301" pin="27" pinfunction="PB14" pintype="bidirectional+no_connect"/>
</net>
<net code="75" name="unconnected-(U301-PC11-Pad40)">
<node ref="U301" pin="40" pinfunction="PC11" pintype="bidirectional+no_connect"/>
<net code="73" name="unconnected-(U301-PB15-Pad28)">
<node ref="U301" pin="28" pinfunction="PB15" pintype="bidirectional+no_connect"/>
</net>
<net code="74" name="unconnected-(U301-PC6-Pad29)">
<node ref="U301" pin="29" pinfunction="PC6" pintype="bidirectional+no_connect"/>
</net>
<net code="75" name="unconnected-(U301-PC10-Pad39)">
<node ref="U301" pin="39" pinfunction="PC10" pintype="bidirectional+no_connect"/>
</net>
<net code="76" name="unconnected-(U301-PC13-Pad2)">
<node ref="U301" pin="2" pinfunction="PC13" pintype="bidirectional+no_connect"/>
@@ -2135,29 +2132,26 @@
<net code="81" name="unconnected-(U401-PWM_OUT-Pad10)">
<node ref="U401" pin="10" pinfunction="PWM_OUT" pintype="output+no_connect"/>
</net>
<net code="82" name="unconnected-(U401-TEST-Pad11)">
<node ref="U401" pin="11" pinfunction="TEST" pintype="no_connect"/>
</net>
<net code="83" name="unconnected-(U401-TEST_EN-Pad13)">
<node ref="U401" pin="13" pinfunction="TEST_EN" pintype="no_connect"/>
</net>
<net code="84" name="unconnected-(U401-U-Pad1)">
<net code="82" name="unconnected-(U401-U-Pad1)">
<node ref="U401" pin="1" pinfunction="U" pintype="output+no_connect"/>
</net>
<net code="85" name="unconnected-(U401-V-Pad2)">
<net code="83" name="unconnected-(U401-V-Pad2)">
<node ref="U401" pin="2" pinfunction="V" pintype="output+no_connect"/>
</net>
<net code="86" name="unconnected-(U401-W-Pad3)">
<net code="84" name="unconnected-(U401-W-Pad3)">
<node ref="U401" pin="3" pinfunction="W" pintype="output+no_connect"/>
</net>
<net code="87" name="unconnected-(U701-#FAULT-Pad6)">
<node ref="U701" pin="6" pinfunction="#FAULT" pintype="unspecified+no_connect"/>
<net code="85" name="unconnected-(U501-~{RESET}-Pad6)">
<node ref="U501" pin="6" pinfunction="~{RESET}" pintype="input+no_connect"/>
</net>
<net code="88" name="unconnected-(U702-#FAULT-Pad6)">
<node ref="U702" pin="6" pinfunction="#FAULT" pintype="unspecified+no_connect"/>
<net code="86" name="unconnected-(U701-#FAULT-Pad6)">
<node ref="U701" pin="6" pinfunction="#FAULT" pintype="output+no_connect"/>
</net>
<net code="89" name="unconnected-(U703-#FAULT-Pad6)">
<node ref="U703" pin="6" pinfunction="#FAULT" pintype="unspecified+no_connect"/>
<net code="87" name="unconnected-(U702-#FAULT-Pad6)">
<node ref="U702" pin="6" pinfunction="#FAULT" pintype="output+no_connect"/>
</net>
<net code="88" name="unconnected-(U703-#FAULT-Pad6)">
<node ref="U703" pin="6" pinfunction="#FAULT" pintype="output+no_connect"/>
</net>
</nets>
</export>

12
hardware/mcu.kicad_sch
View File

@@ -1271,7 +1271,7 @@
(stroke (width 0) (type default))
(uuid 3084df01-ff3d-4638-8f75-5d51c11d2a7f)
)
(wire (pts (xy 83.82 87.63) (xy 73.66 87.63))
(wire (pts (xy 73.66 87.63) (xy 83.82 87.63))
(stroke (width 0) (type default))
(uuid 3096a0d9-9931-408e-bbd6-97595170acec)
)
@@ -1423,7 +1423,7 @@
(stroke (width 0) (type default))
(uuid 9975e605-ba9e-4e9c-9204-4cd27b0982ab)
)
(wire (pts (xy 127 90.17) (xy 116.84 90.17))
(wire (pts (xy 128.27 90.17) (xy 116.84 90.17))
(stroke (width 0) (type default))
(uuid 999afe51-81af-4de8-ad1c-b54fb6e08e3d)
)
@@ -1729,7 +1729,7 @@
(effects (font (size 1.27 1.27)) (justify left))
(uuid a19c3557-9fdf-4507-a59d-8b25daa91599)
)
(hierarchical_label "TIM3_CH1" (shape input) (at 73.66 115.57 180) (fields_autoplaced)
(hierarchical_label "TIM3_CH1" (shape input) (at 73.66 118.11 180) (fields_autoplaced)
(effects (font (size 1.27 1.27)) (justify right))
(uuid abba505e-e6e4-43c1-976d-628b1593ec96)
)
@@ -1741,11 +1741,11 @@
(effects (font (size 1.27 1.27)) (justify right))
(uuid b2e2e711-bf4e-4c2c-8542-d341b63162b1)
)
(hierarchical_label "TIM3_ETR" (shape input) (at 73.66 120.65 180) (fields_autoplaced)
(hierarchical_label "TIM3_ETR" (shape input) (at 73.66 115.57 180) (fields_autoplaced)
(effects (font (size 1.27 1.27)) (justify right))
(uuid b431fb32-a08c-4eb8-89f2-23b466b1f8bd)
)
(hierarchical_label "TIM3_CH2" (shape input) (at 73.66 118.11 180) (fields_autoplaced)
(hierarchical_label "TIM3_CH2" (shape input) (at 73.66 120.65 180) (fields_autoplaced)
(effects (font (size 1.27 1.27)) (justify right))
(uuid d358859b-ec8e-4c3a-bf01-3644c8c83381)
)
@@ -1753,7 +1753,7 @@
(effects (font (size 1.27 1.27)) (justify right))
(uuid f75268da-ac5b-49c4-973b-54d7afbaa945)
)
(hierarchical_label "DIR" (shape input) (at 127 90.17 0) (fields_autoplaced)
(hierarchical_label "DIR" (shape input) (at 128.27 90.17 0) (fields_autoplaced)
(effects (font (size 1.27 1.27)) (justify left))
(uuid f7b629f6-08f3-41ef-8c7d-8ac6dab2ecbf)
)

53
hardware/psu.kicad_sch
View File

@@ -563,15 +563,12 @@
(junction (at 146.05 99.06) (diameter 0) (color 0 0 0 0)
(uuid 49e213cb-6f8a-45d7-92de-afa8696e3499)
)
(junction (at 114.3 74.93) (diameter 0) (color 0 0 0 0)
(junction (at 113.03 74.93) (diameter 0) (color 0 0 0 0)
(uuid 4cf2e7f3-d96e-4b8b-a1b2-7507c3bae1a1)
)
(junction (at 173.99 74.93) (diameter 0) (color 0 0 0 0)
(uuid 5d2a52ab-55d7-4a38-8e1b-429bf841385a)
)
(junction (at 123.19 87.63) (diameter 0) (color 0 0 0 0)
(uuid 6588ba2f-70c6-44e8-ab08-aac32efb47cc)
)
(junction (at 173.99 99.06) (diameter 0) (color 0 0 0 0)
(uuid 86ffa4b7-677e-4b32-b514-31c800b95737)
)
@@ -591,6 +588,8 @@
(uuid f1a5df6a-ada6-4727-8f1a-7f907e0ccb66)
)
(no_connect (at 130.81 87.63) (uuid ac2d505b-dcd7-4619-89f6-a7123e35adf3))
(wire (pts (xy 181.61 82.55) (xy 181.61 83.82))
(stroke (width 0) (type default))
(uuid 02cf0f03-cd3b-44a9-acbd-ca38791bf148)
@@ -607,7 +606,7 @@
(stroke (width 0) (type default))
(uuid 12b4d185-50bb-48aa-9540-0eb8590132d3)
)
(wire (pts (xy 114.3 74.93) (xy 114.3 91.44))
(wire (pts (xy 113.03 74.93) (xy 113.03 91.44))
(stroke (width 0) (type default))
(uuid 131dcf5d-e8c2-4a1c-b30d-f263034d8952)
)
@@ -647,10 +646,6 @@
(stroke (width 0) (type default))
(uuid 348e6076-04fa-4ea8-b99a-05e8ad697051)
)
(wire (pts (xy 123.19 85.09) (xy 123.19 87.63))
(stroke (width 0) (type default))
(uuid 3ded0528-768e-4ae4-bd42-2e042b142767)
)
(wire (pts (xy 181.61 83.82) (xy 181.61 85.09))
(stroke (width 0) (type default))
(uuid 485f7c0a-964a-4ab7-be2c-4eba1dd16ea5)
@@ -663,7 +658,7 @@
(stroke (width 0) (type default))
(uuid 4a2caf97-1cb4-4a38-b31f-c2cda8447639)
)
(wire (pts (xy 123.19 87.63) (xy 123.19 91.44))
(wire (pts (xy 123.19 85.09) (xy 123.19 91.44))
(stroke (width 0) (type default))
(uuid 4d820462-0b60-48b1-9c5b-1a8e90d940b8)
)
@@ -671,11 +666,11 @@
(stroke (width 0) (type default))
(uuid 4f6e7932-fe2b-442c-b0a5-454b594665aa)
)
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(wire (pts (xy 113.03 74.93) (xy 123.19 74.93))
(stroke (width 0) (type default))
(uuid 55eb581a-5f35-43df-b8a4-28768df07191)
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@@ -683,7 +678,7 @@
(stroke (width 0) (type default))
(uuid 574524db-273d-4208-b55a-0d316d625a29)
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@@ -731,10 +726,6 @@
(stroke (width 0) (type default))
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)
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@@ -747,7 +738,7 @@
(stroke (width 0) (type default))
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@@ -776,8 +767,8 @@
(effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 3ed50f4c-bb0e-492c-888f-523b07f8b5fa)
)
(text "Ra = Rb(Vout/0.9 - 1)\n3.36V (closest to 3v3 with basic parts)"
(at 195.58 87.63 0)
(text "For MAX15062AATA+T (C2846801): \nR501: 0R\nR502, R503: DNP\n\nFor MAX15062CATA+T (C1121853):\nR501: 200k\nR502, R503: 51k, 22k\n\nRa = Rb(Vout/0.9 - 1)\n3.36V (closest to 3v3 with basic parts)"
(at 195.58 96.52 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 4d457700-0f26-4182-b9c8-e87ac9edf932)
)
@@ -786,19 +777,19 @@
(uuid 4d9f6cb8-0fea-4ab0-96c8-d8e869b904c3)
)
(symbol (lib_id "matei:Vmot") (at 114.3 71.12 0) (unit 1)
(symbol (lib_id "matei:Vmot") (at 113.03 71.12 0) (unit 1)
(in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
(uuid 0f88b24d-bacd-40e7-a4b6-69f653212543)
(property "Reference" "#PWR0501" (at 109.22 74.93 0)
(property "Reference" "#PWR0501" (at 107.95 74.93 0)
(effects (font (size 1.27 1.27)) hide)
)
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(property "Value" "Vmot" (at 113.03 66.04 0)
(effects (font (size 1.27 1.27)))
)
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(property "Footprint" "" (at 113.03 71.12 0)
(effects (font (size 1.27 1.27)) hide)
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(effects (font (size 1.27 1.27)) hide)
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(pin "1" (uuid 64b5325f-b096-44d4-b26f-140153030d35))
@@ -1213,22 +1204,22 @@
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)
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(symbol (lib_id "Device:C_Small") (at 113.03 93.98 0) (unit 1)
(in_bom yes) (on_board yes) (dnp no)
(uuid c2e248dc-262a-4629-a710-625bec428a81)
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(effects (font (size 1.27 1.27)) (justify right))
)
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(property "Value" "10u" (at 110.49 95.2563 0)
(effects (font (size 1.27 1.27)) (justify right))
)
(property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 114.3 93.98 0)
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(effects (font (size 1.27 1.27)) hide)
)
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(property "Datasheet" "~" (at 113.03 93.98 0)
(effects (font (size 1.27 1.27)) hide)
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(property "LCSC Part" "C440198" (at 113.03 93.98 0)
(effects (font (size 1.27 1.27)) hide)
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(pin "1" (uuid db63675f-4a64-405c-903a-43db0df0c925))

219
hardware/usb.kicad_sch
View File

@@ -296,73 +296,6 @@
)
)
)
(symbol "Device:D" (pin_numbers hide) (pin_names (offset 1.016) hide) (in_bom yes) (on_board yes)
(property "Reference" "D" (at 0 2.54 0)
(effects (font (size 1.27 1.27)))
)
(property "Value" "D" (at 0 -2.54 0)
(effects (font (size 1.27 1.27)))
)
(property "Footprint" "" (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Datasheet" "~" (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Sim.Device" "D" (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Sim.Pins" "1=K 2=A" (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "ki_keywords" "diode" (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
)
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(effects (font (size 1.27 1.27)) hide)
)
(property "ki_fp_filters" "TO-???* *_Diode_* *SingleDiode* D_*" (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
)
(symbol "D_0_1"
(polyline
(pts
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(xy -1.27 -1.27)
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(fill (type none))
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(pin passive line (at -3.81 0 0) (length 2.54)
(name "K" (effects (font (size 1.27 1.27))))
(number "1" (effects (font (size 1.27 1.27))))
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(pin passive line (at 3.81 0 180) (length 2.54)
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)
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(property "Reference" "U" (at -5.08 11.43 0)
(effects (font (size 1.27 1.27)) (justify right))
@@ -683,58 +616,6 @@
)
)
)
(symbol "matei:Vmot" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
(property "Reference" "#PWR" (at -5.08 -3.81 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Value" "Vmot" (at 0 3.81 0)
(effects (font (size 1.27 1.27)))
)
(property "Footprint" "" (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Datasheet" "" (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "ki_keywords" "global power" (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "ki_description" "Power symbol creates a global label with name \"Vmot\"" (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
)
(symbol "Vmot_0_1"
(polyline
(pts
(xy -0.762 1.27)
(xy 0 2.54)
)
(stroke (width 0) (type default))
(fill (type none))
)
(polyline
(pts
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(xy 0 2.54)
)
(stroke (width 0) (type default))
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)
(polyline
(pts
(xy 0 2.54)
(xy 0.762 1.27)
)
(stroke (width 0) (type default))
(fill (type none))
)
)
(symbol "Vmot_1_1"
(pin power_in line (at 0 0 90) (length 0) hide
(name "Vmot" (effects (font (size 1.27 1.27))))
(number "1" (effects (font (size 1.27 1.27))))
)
)
)
(symbol "power:GND" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
(property "Reference" "#PWR" (at 0 -6.35 0)
(effects (font (size 1.27 1.27)) hide)
@@ -783,9 +664,6 @@
(junction (at 182.88 115.57) (diameter 0) (color 0 0 0 0)
(uuid 7f829efe-2549-4b4f-90e8-0852a4a099b6)
)
(junction (at 182.88 74.93) (diameter 0) (color 0 0 0 0)
(uuid 88593d01-2247-428d-90be-d1303e2afca7)
)
(junction (at 133.35 87.63) (diameter 0) (color 0 0 0 0)
(uuid 9aafd402-ac62-47f2-ae12-2053d8ddf9fb)
)
@@ -819,11 +697,6 @@
(stroke (width 0) (type default))
(uuid 0a14d4da-021c-4d9e-9679-6c4310bab1e5)
)
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(stroke (width 0) (type dash))
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(stroke (width 0) (type default))
(uuid 189a4a91-86d9-4c15-b8a3-52fe3bc43652)
@@ -844,11 +717,6 @@
(stroke (width 0) (type default))
(uuid 27844c04-3d11-4309-84f5-54db6ebdb4f4)
)
(polyline (pts (xy 187.96 57.15) (xy 187.96 78.74))
(stroke (width 0) (type dash))
(uuid 28c3b3eb-96a9-4dd7-abd6-f07914b20eb2)
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(stroke (width 0) (type default))
(uuid 2f8faf9e-0eca-4d3b-b618-2d2541be2cb8)
@@ -873,18 +741,10 @@
(stroke (width 0) (type default))
(uuid 5ce767fc-dbe5-40e4-9e44-c72b35d2bd48)
)
(wire (pts (xy 182.88 74.93) (xy 193.04 74.93))
(stroke (width 0) (type default))
(uuid 7b0a80c6-a7c8-4760-8461-97ec7cd2522b)
)
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(stroke (width 0) (type default))
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(stroke (width 0) (type default))
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(stroke (width 0) (type default))
(uuid 8b4a695f-7d13-4eb2-9dcc-16c2356aaeaa)
@@ -905,19 +765,10 @@
(stroke (width 0) (type default))
(uuid 924ac973-8620-473f-a942-9d5f8ba6a69e)
)
(polyline (pts (xy 187.96 57.15) (xy 205.74 57.15))
(stroke (width 0) (type dash))
(uuid 934f6af3-25d2-4464-865c-3380099b47e3)
)
(wire (pts (xy 160.02 93.98) (xy 170.18 93.98))
(stroke (width 0) (type default))
(uuid 940e3e0b-4c9a-42fb-8b5c-a42c8008ec1c)
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(wire (pts (xy 210.82 74.93) (xy 210.82 69.85))
(stroke (width 0) (type default))
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)
(wire (pts (xy 160.02 93.98) (xy 160.02 97.79))
(stroke (width 0) (type default))
(uuid 9f0edadd-0571-4b2e-b4a0-84447677e15c)
@@ -942,11 +793,6 @@
(stroke (width 0) (type default))
(uuid bdc95b9b-cec6-4f4f-a442-91b4b1fcb098)
)
(polyline (pts (xy 187.96 78.74) (xy 205.74 78.74))
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(stroke (width 0) (type default))
(uuid d5ebe916-192c-4adf-9cd5-109115062f48)
@@ -980,11 +826,6 @@
(uuid f955368a-83b4-45d0-b05e-385531054e24)
)
(text "not sure if\ngood idea" (at 191.77 63.5 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 094e3f22-7dfb-4ec5-9d75-4dad2b796bfb)
)
(label "USB_5V" (at 151.13 74.93 0) (fields_autoplaced)
(effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 3309461f-9ec9-4f09-8ce5-3188505d8775)
@@ -1061,41 +902,6 @@
)
)
(symbol (lib_id "Device:D") (at 196.85 74.93 180) (unit 1)
(in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
(uuid 68b1a8c4-1258-4055-9cf5-0723ea413e16)
(property "Reference" "D201" (at 196.85 68.58 0)
(effects (font (size 1.27 1.27)))
)
(property "Value" "1N4148WS" (at 196.85 71.12 0)
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)
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(effects (font (size 1.27 1.27)) hide)
)
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(effects (font (size 1.27 1.27)) hide)
)
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(effects (font (size 1.27 1.27)) hide)
)
(property "Sim.Pins" "1=K 2=A" (at 196.85 74.93 0)
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)
(property "LCSC Part" "C2128" (at 196.85 74.93 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "1" (uuid e555ab3b-eb30-4349-9c23-402619def6cc))
(pin "2" (uuid 1efac732-ac4b-4e69-b1bc-4ad87a05b9a8))
(instances
(project "lemon-pepper"
(path "/0306e2fa-4433-4288-91d9-65a3484207ad/3af4e77c-61b4-4c93-bd22-ce60f55b568c"
(reference "D201") (unit 1)
)
)
)
)
(symbol (lib_id "Connector:USB_C_Receptacle_USB2.0") (at 114.3 90.17 0) (unit 1)
(in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
(uuid 7dadba43-7b05-4cb5-aa6a-7b6320a6123d)
@@ -1218,31 +1024,6 @@
)
)
(symbol (lib_id "matei:Vmot") (at 210.82 69.85 0) (unit 1)
(in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
(uuid b9dba828-f517-41cc-8de1-0faef402be40)
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(effects (font (size 1.27 1.27)) hide)
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(property "Value" "Vmot" (at 210.82 64.77 0)
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)
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)
(pin "1" (uuid f1d6e431-3a02-4643-9c81-2852037ee064))
(instances
(project "lemon-pepper"
(path "/0306e2fa-4433-4288-91d9-65a3484207ad/3af4e77c-61b4-4c93-bd22-ce60f55b568c"
(reference "#PWR0202") (unit 1)
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(uuid cb323398-3b6f-4a42-a847-71234d3d92ba)

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39
lemon-pepper/include/README
View File

@@ -1,39 +0,0 @@
This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

46
lemon-pepper/lib/README
View File

@@ -1,46 +0,0 @@
This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into executable file.
The source code of each library should be placed in a an own separate directory
("lib/your_library_name/[here are source files]").
For example, see a structure of the following two libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
and a contents of `src/main.c`:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
PlatformIO Library Dependency Finder will find automatically dependent
libraries scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

14
lemon-pepper/platformio.ini
View File

@@ -1,14 +0,0 @@
; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:genericSTM32G431CB]
platform = ststm32
board = genericSTM32G431CB
framework = arduino

11
lemon-pepper/test/README
View File

@@ -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

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13
platformio.ini
View File

@@ -23,7 +23,9 @@ board_build.f_cpu = 168000000
framework = arduino
upload_protocol = stlink
debug_tool = stlink
; monitor_port = /dev/cu.usbmodem207C345A56501
monitor_port = /dev/cu.usbmodem208A317F42531
; monitor_port = /dev/cu.usbmodem208A318D42531
; monitor_port = /dev/cu.usbmodem208B316742531
monitor_speed = 115200
monitor_eol = LF
build_flags =
@@ -31,13 +33,16 @@ build_flags =
-D SIMPLEFOC_STM32_DEBUG
-D PIO_FRAMEWORK_ARDUINO_ENABLE_CDC
-D HAL_FDCAN_MODULE_ENABLED
-D HAL_OPAMP_MODULE_ENABLED
-D FDCAN_ALT1
-D SN65HVD23x
-D ARDUINO_GENERIC_G431CBUX
-D SIMPLEFOC_STM32_CUSTOMCURRENTSENSE
-D PCB_REV1 ; or PCB_REV2
; -D HAS_MONITOR
lib_deps =
askuric/Simple FOC@^2.2.3
simplefoc/SimpleFOCDrivers@^1.0.2
; lib_deps =
; askuric/Simple FOC@^2.3.1
; simplefoc/SimpleFOCDrivers@^1.0.5
lib_archive = false