#STM32-FreeRTOS-EtherCAT

This project is a realtime data-acquisition, control and PC-transmission platform desigend as a centralized driver for a 4-DOF pneumatic robotic arm.

It is based on a STM32F767ZI-Nucleo board running FreeRTOS, and an ethercat expansion board I-NUCLEO-NETX providing realtime data transmittion with PC.

Currently it is still under construction.

Features

The platform has the following features:

Input:

• 8-channel 16-bit AD input (-10~10V) (using an ADS8588 board from TI)
• 4-channel Angular information (using AS5048A and AS5311 from AMS, SCC2130-D08 from muRata, Mini4096j)
• 8-channel pressure information (using HSCDANN060PGSA3 and SSCDNNN060PAAA5 from HoneyWell)

Output:

• 16-channel 16-bit DA output (0~10V) (using a LTC2668 board from Linear Technology).

Data Transmission:

• 1KHz realtime transmission with PC through ethernet (using EtherCAT expansion board I-NUCLEO-NETX)
• Non-blocking serial transmission (using DMA and output buffers)
• Non-blocking variable size serial receving (using DMA and input idleline Detection)

control:

• Simple Kalman filter (Using CMSIS DSP library, who exploits fast hardware computation)
• Advanced PID controller
• simple Sliding mode controller

Getting Started

This project is still on going, and currently the portability is not considered too much.

Prerequisites

Hardware:

• STM32F767ZI-Nucleo board
• I-NUCLEO-NETX
• ADS8588 board
• LTC2668 board
• other sensors

Software:

• STM32CubeMX
• SW4STM32
• cifX toolkit form Hilscher

Installing

Deployment

Authors

• Xiaojiao Chen

License

This project is licensed under the MIT License - see the LICENSE.md file for details

Acknowledgments