Open firmware for DC servomotors written in C++20. The FW uses closed control loops, serial communication, and has automatized testing infrastructure. More details in Documentation
Disclaimer
The project is in development state, beware that the code still might have problematic bugs.
Dependencies
We maintain Dockerfile with installed dependencies for CI. Use that to install adequate packages in your system, or you can just use that docker file.
Dockerfile is stored in this repository: https://github.com/emsro/build-env
Build
cmake is used as build system, however the setup is not trivial. We can't compile code for multiple platforms at the same time, hence the design is to use cmake multiple times, once for each platform. If you don't care about the details, you can just use make configure followed by make build in the root folder of the repository, which will correctly build for all platforms.
We use cmake presets with definitions of the builds for each platform. The presets contain the name of the platform in their name, so stm32h5_debug_build represents build for STM32H5, and it is used as so:
host_debug_build represents build of stuff used on the host, and is used as so:
Under the hood, the presets use SERVIO_PLATFORM to setup which platform should be currently build and the cmake files in the project react accordingly.
Flashing
To flash the firmware, find a openocd file for your platform (src/plt/stm32g4/openocd.cfg for STM32G4) and use it with openocd to flash a firmware file into the device. See make flash target for inspiration.
The pattern for naming the firmware is <board_name>_fw.elf and can be found in build/<platform_name>.
Usage
After the firmware was fleshed, the servo should communicate over UART via the interface connector. The communication protocol is TBD
