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View Code? Open in Web Editor NEWBLDC motor control firmware for 32-bit ESCs
License: GNU General Public License v3.0
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spookee17 quick-flash hydra camo55 bkleiner walsch geosmall stas-dubrovskyi swamps5150 wimalopaan 01space jck88099 mizu42 tuddrun frank26080115 babakvas vonhara bramnawasitu hljxkang2020 canyonblissescape32's Issues
After the PWM input value reach at 2200, the motor stops spining
Hardware:
ESC: T-MOTOR F35A 3-6S
Motor: F20Ⅱ KV2800
Firmware: TMOTOR2-rev10.bin
Description:
4S battery, HJ Servo Tester for PWM input. No propeller. HJ Servo Tester‘s PWM start from 800, end to 2200. The motor start to spin at PWM 1050. Motor increase spinning speed with PWM value increase, but after PWM reach to 2200, motor stop spinning. It will only start spinning after PWM input fall back to 800.
This happens almost every time, with a very small probability, maybe one in ten, that the motor will continue to spin with PWM input reach to 2200.
I have tried PWM calibration, but it seems not works. With the original BliHeli firmware, the motor can spin with PWM value at 2200.
I am very appreciate any clues or replies.
Build errors relating to libopencm3 `nvic.h` files.
Attempting to build results in compilation errors due to missing nvic.h files.
Commands used:
$ cmake -B build -D LIBOPENCM3_DIR=../libopencm3 -G "Ninja" -G "Unix Makefiles"
-- The C compiler identification is GNU 12.2.1
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - failed
-- Detecting C compile features
-- Detecting C compile features - done
-- Configuring done (0.9s)
-- Generating done (0.6s)
-- Build files have been written to: /d/Users/Hydra/Documents/dev/projects/escape32/ESCape32/build
Hydra@DESKTOP-H1JUK44 ~/.../projects/escape32/ESCape32 (master ?3)
$ cd build
Hydra@DESKTOP-H1JUK44 ~/.../escape32/ESCape32/build (master ?3)
$ make IFLIGHT2
[ 25%] Building C object CMakeFiles/IFLIGHT2-rev5.elf.dir/mcu/STM32G071/config.c.obj
In file included from d:\users\hydra\documents\dev\projects\escape32\libopencm3\include\libopencm3\cm3\nvic.h:147,
from d:\users\hydra\documents\dev\projects\escape32\libopencm3\include\libopencmsis\core_cm3.h:17,
from D:/Users/Hydra/Documents/dev/projects/escape32/ESCape32/src/common.h:22,
from D:/Users/Hydra/Documents/dev/projects/escape32/ESCape32/mcu/STM32G071/config.c:20:
d:\users\hydra\documents\dev\projects\escape32\libopencm3\include\libopencm3\dispatch\nvic.h:24:17: fatal error: libopencm3/stm32/g0/nvic.h: No such file or directory
24 | # include <libopencm3/stm32/g0/nvic.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[3]: *** [CMakeFiles/IFLIGHT2-rev5.elf.dir/build.make:76: CMakeFiles/IFLIGHT2-rev5.elf.dir/mcu/STM32G071/config.c.obj] Error 1
make[2]: *** [CMakeFiles/Makefile2:1089: CMakeFiles/IFLIGHT2-rev5.elf.dir/all] Error 2
make[1]: *** [CMakeFiles/Makefile2:1122: CMakeFiles/IFLIGHT2.dir/rule] Error 2
make: *** [Makefile:566: IFLIGHT2] Error 2
See screenshots below:
Build system generates bad paths on Cygwin
From the documentation it's not clear what the supported build environments are, but when I tried to use CMake on cygwin it generates paths that the windows based arm cross compiler (from GNU Arm Tools) doesn't understand.
cygwin:
$ cmake --version
cmake version 3.25.3
Snippet from a build.make file
/cygdrive/d/Programs/GNUArmTools/active/bin/arm-none-eabi-gcc.exe $(C_DEFINES) $(C_INCLUDES) $(C_FLAGS) -MD -MT CMakeFiles/IFLIGHT2-rev5.elf.dir/mcu/STM32G071/config.c.obj -MF CMakeFiles/IFLIGHT2-rev5.elf.dir/mcu/STM32G071/config.c.obj.d -o CMakeFiles/IFLIGHT2-rev5.elf.dir/mcu/STM32G071/config.c.obj -c /cygdrive/d/Users/Hydra/Documents/dev/projects/escape32/ESCape32/mcu/STM32G071/config.c
As you can see, the paths are absolute and have a /cygdrive prefix, which is normal for cygwin tools which understand such paths. However the c compiler is a windows tool which usually expects paths in the form <drive>:\..., however the gcc c compiler on windows also accepts paths like /<drive>/....
arm-none-eabi-gcc --version
arm-none-eabi-gcc.exe (Arm GNU Toolchain 12.2.MPACBTI-Rel1 (Build arm-12-mpacbti.34)) 12.2.1 20230214
Copyright (C) 2022 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
If I run the same CMake commands on msys2 (ucrt64) the path is generated as follows:
msys2:
$ cmake --version
cmake version 3.26.4
/d/Programs/GNUArmTools/active/bin/arm-none-eabi-gcc.exe $(C_DEFINES) $(C_INCLUDES) $(C_FLAGS) -MD -MT CMakeFiles/IFLIGHT2-rev5.elf.dir/mcu/STM32G071/config.c.obj -MF CMakeFiles/IFLIGHT2-rev5.elf.dir/mcu/STM32G071/config.c.obj.d -o CMakeFiles/IFLIGHT2-rev5.elf.dir/mcu/STM32G071/config.c.obj -c /d/Users/Hydra/Documents/dev/projects/escape32/ESCape32/mcu/STM32G071/config.c
Note the /d/ prefix, which the compiler seems to understand.
I had a quick look to see if it would be possible to tell cmake to use relative paths, which would avoid the issue, but I was unable to find out how to do this.
To summarize:
- currently building on cygwin doesn't work.
- building on msys2 ucrt64 appears to work (but unrelated to this there are other build issues relating to libopencm3 relating to missing nvic.h files)
VTOL motor positioning on stop
Hi there, awesome work!
This is a feature request or more even a feature possibility request.
I'm looking for a way to align VTOL Quadplane Motors in flight when they are stopped. (like this: https://youtu.be/rsTkrPtcVTk?t=34) From my understanding this should be possible with a simple hall sensor+magnet (on/off input) and some software tweaks to have a slow turning movement until the hall sensor is reached?
There are very few ESCs that have this capability and none of them fit my criterias, bringing this feature to ESCape32 would be a huge win for the VTOL community, as there so much more Hardware available.
What do you think? Would such a feature be at all be possible and/or of your interest?
Thanks!
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