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ESC32 編譯方法

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发表于 2017-6-22 09:48:45 | 显示全部楼层 |阅读模式
本帖最后由 nature 于 2017-6-22 10:17 编辑

ESC32 官方網址 :  http://autoquad.org/esc32/
Specifications for version 2
- STM32F103 72MHz 32bit ARM
– All N-FET design with gate drivers
– 2S through 5S battery voltage
– Option to power logic side via UART or PWM IN +5v
– CAN transceiver hardware support onboard
– Firmware written completely in C
– Cortex SWD connector pads for real-time debugging
– Communications ports: PWM IN / UART / I2C / CAN Bus
– Communications protocols: PWM IN / CLI / binary / 1-wire / I2C** / CAN**
– 4KHz to 64KHz PWM out
– Current sensing / limiting with real shunt resistor
– Virtual current limiter
– Regenerative braking (experimental)
– Closed loop control modes
- Lot of available RAM / FLASH for experimentation and development
** I2C and CAN drivers have not yet been written

說明 :

步驟 1. 源碼取得說明

    這版 code 是從 https://github.com/limhyon/esc32  拉下後並且修改到官方最新的 code ( https://code.google.com/p/esc32/ ... n%2Ftrunk%2Fonboard )


步驟. 編譯前須要安裝的工具

    1. BASH on Windows Cygwin ( gcc, g++, make, gdb, perl, flex, bison, python, unix2dos )
    http://www.cygwin.com/

    2. Pre-built GNU toolchain from ARM Cortex-M & Cortex-R processors (Cortex-M0/M0+/M3/M4, Cortex-R4/R5)
    gcc-arm-none-eabi-4_7-2013q1-20130313-win32 ( 支援 hard FPU )
    https://launchpad.net/gcc-arm-embedded/

步驟3. 解壓縮包

    解壓縮 esc32_build.7z 到 c:\esc32  (路徑可自行修改)
    在windows 的開始目錄的執行打 cmd 開啟命令視窗.
    在命令視窗執行 build_env.bat , 這會設定 cygwin 和 GNU toolchain 的路徑並切到 bash 命令列.
    在命令列打 make 即可編譯.

步驟4. 修改程式碼並重新編譯

    在步驟 3 後 make clean 後再 make

註解 :
我的環境
cygwin 安裝在 C:\utils\cygwin
GNU toolchain 安裝在 C:\apps\gcc-arm-none-eabi-4_7-2013q1-20130313-win32

by  chiacheng.tsao@gmail.com


補充 :

A : 電調在使用前需要做校正才能用, 需要透過軟體做PID 的校正. PID 是軟體驅動硬體得到馬達規格自己算出的.





After the calibration the current limiter (1-5) or FF (1-2) data is displayed and entered in the Esc32 PID screen.



B : MOS FET



開發者的描述 ( http://diydrones.com/profiles/blog/show?id=705844%3ABlogPost%3A902950&commentId=705844%3AComment%3A903999&xg_source=activity )

I'm sure the first question will be how much current can they handle.  The truth is I don't really know.  According to their data sheet, the FETs are capable of 160A continuous.  As a practical matter, there is no way you could come close to dissipating the amount of heat that would be generated at those levels.  With large heat sinks you could probably run them over 50A continuous, but without any heat sinks the limit will be significantly less.  In the end, the limiting factor is simply cooling.  If you can get them into some prop wash or rig some sort of small heat sink your results will improve.  I've been flying them for for more than 6 months with no heat sink at all, but my machines typically weigh less than 3Kg.  As we get more test data in we will be better able to characterize the actual limits.

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