Motor Control Board
- Board used: STM32f767zi
- Function: Controls the motor
| sensor | pins | address | wiring_photo | type | extra_info |
|---|---|---|---|---|---|
| Inter-board communication Can Bus | PB8, PB9 | - | - | CAN | - |
| Motor | PB3, PB4 | - | - | CAN | - |
There are 2 two boolean flags:
-
setup_complete: whether the motor controller has been configured. -
operational: whether the controller is in the operational state.
| Event | Preconditions | Action (with letter) | Postconditions |
|---|---|---|---|
MotorControllerSetupCommand |
None | Run the setup sequence (run_setup_sequence()), mark setup_complete = true, and send MotorControllerSetupComplete over CAN. |
setup_complete = trueoperational unchanged, i.e. still false) |
MotorControllerSetOperationalCommand |
setup_complete == true |
Run the operational sequence (run_operational_sequence()), mark operational = true, and send MotorControllerOperational. If already operational, just send the status message. |
operational = truesetup_complete remains true
|
StartPropulsionAccelerationCommand |
operational == true |
Send Messages::TestModeCommand(200) to the motor, wait 3 seconds, then send PropulsionAccelerationStarted. |
State unchanged |
StartPropulsionBrakingCommand |
operational == true |
Send Messages::QuickStop (NMT command), wait 100 ms, then send PropulsionBrakingStarted. |
State unchanged |
All motor commands (send_motor_command) are enqueued into the MOTOR_COMMAND_CHANNEL, which is consumed by the motor_control_loop task. That task translates each Messages variant into either an NMT frame (for state transitions) or an SDO frame (for parameter writes) and transmits it over the CAN bus.