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| ChibiOS_3.0.5 | ||
| comm | ||
| documentation | ||
| driver | ||
| encoder | ||
| hwconf | ||
| imu | ||
| libcanard | ||
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| make | ||
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| util | ||
| .clangd | ||
| .gdbinit | ||
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| .travis.yml | ||
| bms.c | ||
| bms.h | ||
| CHANGELOG.md | ||
| chconf.h | ||
| conf_custom.c | ||
| conf_custom.h | ||
| conf_general.c | ||
| conf_general.h | ||
| confgenerator.c | ||
| confgenerator.h | ||
| CONTRIBUTING | ||
| datatypes.h | ||
| events.c | ||
| events.h | ||
| firmware_metadata.h | ||
| flash_helper.c | ||
| flash_helper.h | ||
| halconf.h | ||
| irq_handlers.c | ||
| isr_vector_table.h | ||
| ld_eeprom_emu.ld | ||
| main.c | ||
| main.h | ||
| Makefile | ||
| package_firmware.py | ||
| pi_stm32.cfg | ||
| README.md | ||
| stm32-bv_openocd.cfg | ||
| terminal.c | ||
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| timeout.h | ||
VESC firmware
An open source motor controller firmware.
This is the source code for the VESC DC/BLDC/FOC controller. Read more at https://vesc-project.com/
Supported boards
All of them!
Check the supported boards by typing make
[Firmware]
fw - Build firmware for default target
supported boards are: 100_250 100_250_no_limits 100_500...
There are also many other options that can be changed in conf_general.h.
Prerequisites
On Ubuntu (Linux)/macOS
- Tools:
git,wget, andmake - Additional Linux requirements:
libgl-devandlibxcb-xinerama0 - Helpful Ubuntu commands:
sudo apt install git build-essential libgl-dev libxcb-xinerama0 wget git-gui
- Helpful macOS tools:
brew install stlink
brew install openocd
On Windows
- Chocolately: https://chocolatey.org/install
- Git: https://git-scm.com/download/win. Make sure to click any boxes to add Git to your Environment (aka PATH)
Install Dev environment and build
On Ubuntu (Linux)/MacOS
Open up a terminal
git clone http://github.com/vedderb/bldc.gitcd bldc- Continue with On all platforms
On Windows
- Open up a Windows Powershell terminal (Resist the urge to run Powershell as administrator, that will break things)
- Type
choco install make git clone http://github.com/vedderb/bldccd bldc- Continue with On all platforms
On all platforms
git checkout origin/mastermake arm_sdk_installmake<-- Pick out the name of your target device from the supported boards list. For instance, I have a Trampa VESC 100/250, so my target is100_250make 100_250<-- This will build the VESC 100/250 firmware and place it into thebldc/builds/100_250/directory
Other tools
Linux Optional - Add udev rules to use the stlink v2 programmer without being root
wget vedder.se/Temp/49-stlinkv2.rules
sudo mv 49-stlinkv2.rules /etc/udev/rules.d/
sudo udevadm trigger
IDE
Prerequisites
On macOS/Linux
python3, andpip
On Windows
- Python 3: https://www.python.org/downloads/. Make sure to click the box to add Python3 to your Environment.
All platforms
pip install aqtinstallmake qt_install- Open Qt Creator IDE installed in
tools/Qt/Tools/QtCreator/bin/qtcreator - With Qt Creator, open the vesc firmware Qt Creator project, named vesc.pro. You will find it in
Project/Qt Creator/vesc.pro - The IDE is configured by default to build 100_250 firmware, this can be changed in the bottom of the left panel, there you will find all hardware variants supported by VESC
Upload to VESC
Method 1 - Flash it using an STLink SWD debugger
- Build and flash the bootloader first
- Then
_flashto the target of your choice. So for instance, for the VESC 100/250:
make 100_250_flash
Method 2 - Upload Firmware via VESC tool through USB
- Clone and build the firmware in .bin format as in the above Build instructions
In VESC tool
- Connect to the VESC
- Navigate to the Firmware tab on the left side menu
- Click on Custom file tab
- Click on the folder icon to select the built firmware in .bin format (e.g.
build/100_250/100_250.bin)
[ Reminder : It is normal to see VESC disconnects during the firmware upload process ]
[ Warning : DO NOT DISCONNECT POWER/USB to VESC during the upload process, or you will risk bricking your VESC ]
[ Warning : ONLY DISCONNECT your VESC 10s after the upload loading bar completed and "FW Upload DONE" ]
- Press the upload firmware button (downward arrow) on the bottom right to start upload the selected firmware.
- Wait for 10s after the loading bar completed (Warning: unplug sooner will risk bricking your VESC)
- The VESC will disconnect itself after new firmware is uploaded.
In case you bricked your VESC
you will need to upload a new working firmware to the VESC.
However, to upload a firmware to a bricked VESC, you have to use a SWD Debugger.
Contribute
Head to the forums to get involved and improve this project. Join the Discord for real-time support and chat
Tags
Every firmware release has a tag. They are created as follows:
git tag -a [version] [commit] -m "VESC Firmware Version [version]"
git push --tags
License
The software is released under the GNU General Public License version 3.0