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In case of VESCular6 and VESCuino board, we pre-define the "HW_SOURCE" and "HW_HEADER" value using macro command (Board Select Here!!!) as below.
#ifndef CONF_GENERAL_H_
#define CONF_GENERAL_H_
// Firmware version
#define FW_VERSION_MAJOR 5
#define FW_VERSION_MINOR 02
// Set to 0 for building a release and iterate during beta test builds
#define FW_TEST_VERSION_NUMBER 0
#include "datatypes.h"
//cdi - Board Select Here!!!
#define HW60_IS_VESCULAR // HW60_IS_VESCULAR, HW60_IS_VESCUINO
//#define HW60_IS_VESCUINO
#ifdef HW60_IS_VESCULAR
/////////////////////////// HW60_IS_VESCULAR /////////////////////////////////
#define HW_SOURCE "hw_60_openrobot_vescular.c"
#define HW_HEADER "hw_60_openrobot_vescular.h"
#include "hw.h"
// app setting custom precompilation
#include "openrobot/appconf_openrobot.h"
#define APP_CUSTOM_TO_USE "openrobot/app_openrobot.c"
// motor setting custom precompilation
#include "openrobot/mc_header_custom/kitech_motor_ifdef_id_14.h"
//#define USE_CUSTOM_ABI_ENCODER_AT_SPI // If it is enabled, Arduino SPI Communication impossible
////////////////////////////////////////////////////////////////////////////////
#elif defined(HW60_IS_VESCUINO)
#define HW_SOURCE "hw_60_openrobot_vescuino.c"
#define HW_HEADER "hw_60_openrobot_vescuino.h"
#include "hw.h"
// app setting custom precompilation
#include "openrobot/appconf_openrobot.h"
#define APP_CUSTOM_TO_USE "openrobot/app_openrobot.c"
// motor setting custom precompilation
//#include "openrobot/mc_header_custom/kitech_motor_ifdef_id_14.h"
//#define USE_VESCUINO_UART2
#define USE_VESCUINO_ARDUINO_SPI
#define USE_I2C_FAST_400KHZ_MODE
// Custom ABI Encoder with HALL/ENC Hybrid commutation using HW SPI Port.
// Initial Commutation is done by Hall Sensor and change the commutation to encoder just after index found
// Use SPI_MISO(A5):ENC_A, SPI_MOSI(A6):ENC_B, SPI_nCS(A4):ENC_I (VESCUINO VER0.1)
// Use SPI_SCK(A5):ENC_A, SPI_MISO(A6):ENC_B, SPI_nCS(A4):ENC_I (VESCUINO VER0.1A, VER0.2)
// USE VESC-Tool Setting:
// General - Sensor Port Mode (Hall Sensors), General - ABI Encoder Counts (4채배된 Pulse),
// FOC - General - Sensor Mode (Auto Change from Hall to Encoder after index found), FOC - Encoder - Offset & ratio 세팅되어있어야함.
#define USE_CUSTOM_ABI_ENCODER_AT_SPI // If it is enabled, Arduino SPI Communication impossible
//#define USE_ENC_CALCULATION_THREAD
#endif
// Settings and parameters to override
//#define VIN_R1 33000.0
//#define VIN_R1 39200.0
//#define VIN_R2 2200.0
//#define CURRENT_AMP_GAIN 10.0
//#define CURRENT_SHUNT_RES 0.005
//#define WS2811_ENABLE 1
//#define WS2811_TEST 1
//#define CURR1_DOUBLE_SAMPLE 0
//#define CURR2_DOUBLE_SAMPLE 0
//#define AS5047_USE_HW_SPI_PINS 1
// Disable hardware limits on configuration parameters
//#define DISABLE_HW_LIMITS
/*
* Select only one hardware version, if it is not passed
* as an argument.
*/
#if !defined(HW_SOURCE) && !defined(HW_HEADER)
//#define HW_SOURCE "hw_40.c"
//#define HW_HEADER "hw_40.h"
//#define HW_SOURCE "hw_45.c"
//#define HW_HEADER "hw_45.h"
//#define HW_SOURCE "hw_46.c" // Also for 4.7
//#define HW_HEADER "hw_46.h" // Also for 4.7
//#define HW_SOURCE "hw_48.c"
//#define HW_HEADER "hw_48.h"
//#define HW_SOURCE "hw_49.c"
//#define HW_HEADER "hw_49.h"
//#define HW_SOURCE "hw_410.c" // Also for 4.11 and 4.12
//#define HW_HEADER "hw_410.h" // Also for 4.11 and 4.12
// Benjamins first HW60 PCB with PB5 and PB6 swapped
//#define HW60_VEDDER_FIRST_PCB
// Mark3 version of HW60 with power switch and separate NRF UART.
//#define HW60_IS_MK3
//#define HW60_IS_MK4
#define HW60_IS_MK5
#define HW_SOURCE "hw_60.c"
#define HW_HEADER "hw_60.h"
//#define HW_SOURCE "hw_r2.c"
//#define HW_HEADER "hw_r2.h"
//#define HW_SOURCE "hw_victor_r1a.c"
//#define HW_HEADER "hw_victor_r1a.h"
//#define HW_SOURCE "hw_das_rs.c"
//#define HW_HEADER "hw_das_rs.h"
//#define HW_SOURCE "hw_axiom.c"
//#define HW_HEADER "hw_axiom.h"
//#define HW_SOURCE "hw_luna_bbshd.c"
//#define HW_HEADER "hw_luna_bbshd.h"
//#define HW_SOURCE "hw_rh.c"
//#define HW_HEADER "hw_rh.h"
//#define HW_SOURCE "hw_tp.c"
//#define HW_HEADER "hw_tp.h"
// Benjamins first HW75_300 PCB with different LED pins and motor temp error
//#define HW75_300_VEDDER_FIRST_PCB
// Second revision with separate UART for NRF51
//#define HW75_300_REV_2
#define HW75_300_REV_3
//#define HW_SOURCE "hw_75_300.c"
//#define HW_HEADER "hw_75_300.h"
//#define HW_SOURCE "hw_mini4.c"
//#define HW_HEADER "hw_mini4.h"
//#define HW_SOURCE "hw_das_mini.c"
//#define HW_HEADER "hw_das_mini.h"
//#define HW_SOURCE "hw_uavc_qcube.c"
//#define HW_HEADER "hw_uavc_qcube.h"
//#define HW_SOURCE "hw_uavc_omega.c"
//#define HW_HEADER "hw_uavc_omega.h"
//#define HW_SOURCE "hw_binar_v1.c"
//#define HW_HEADER "hw_binar_v1.h"
//#define HW_SOURCE "hw_hd60.c"
//#define HW_HEADER "hw_hd60.h"
//#define HW_SOURCE "hw_hd75.c"
//#define HW_HEADER "hw_hd75.h"
//#define HW_SOURCE "hw_a200s_v2.c"
//#define HW_HEADER "hw_a200s_v2.h"
//#define HW_SOURCE "hw_rd2.c"
//#define HW_HEADER "hw_rd2.h"
//#define HW_SOURCE "hw_100_250.c"
//#define HW_HEADER "hw_100_250.h"
//#define HW_SOURCE "hw_unity.c"
//#define HW_HEADER "hw_unity.h"
//#define HW_SOURCE "hw_uxv_sr.c"
//#define HW_HEADER "hw_uxv_sr.h"
//#define HW_DUAL_CONFIG_PARALLEL
//#define HW_SOURCE "hw_stormcore_100d.c"
//#define HW_HEADER "hw_stormcore_100d.h"
//#define HW_VER_IS_60D_PLUS
//#define HW_SOURCE "hw_stormcore_60d.c"
//#define HW_HEADER "hw_stormcore_60d.h"
//#define HW_SOURCE "hw_stormcore_100s.c"
//#define HW_HEADER "hw_stormcore_100s.h"
//#define HW_SOURCE "hw_Cheap_FOCer_2.c"
//#define HW_HEADER "hw_Cheap_FOCer_2.h"
//#define HW_SOURCE "hw_140_300.c"
//#define HW_HEADER "hw_140_300.h"
//#define HW_SOURCE "hw_es19.c"
//#define HW_HEADER "hw_es19.h"
//#define HW_SOURCE "hw_Little_FOCer.c"
//#define HW_HEADER "hw_Little_FOCer.h"
#endif
#ifndef HW_SOURCE
#error "No hardware source file set"
#endif
#ifndef HW_HEADER
#error "No hardware header file set"
#endif
#ifdef USER_MC_CONF
#include USER_MC_CONF
#endif
#ifdef USER_APP_CONF
#include USER_APP_CONF
#endif
There are also many other options that can be changed in conf_general.h
Install the gcc-arm-embedded toolchain
sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
sudo apt update
sudo apt install gcc-arm-embedded
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
Go to the GNU ARM embedded toolchain downloads Website and select the mac version, download it and extract it to your user directory.
Append the bin directory to your $PATH. For example:
export PATH="$PATH:/Users/your-name/gcc-arm-none-eabi-8-2019-q3-update/bin/"
Install stlink and openocd
brew install stlink
brew install openocd
Clone and build the firmware
git clone https://github.com/vedderb/bldc.git vesc_firmware
cd vesc_firmware
make
Flash it using an STLink SWD debugger
make upload
Firmware upgrade to multiple VESCular6 at once using VESC-Tool
Last modified 2yr ago