Cubli Firmware

This repository contains the source code for the firmware utilized in the Cubli project of a PhD Thesis.

It was developed with ARM Mbed OS open-source operating system targeting the STM32 NUCLEO-L432KC development board:

• 80MHz ARM®32-bit Cortex®M4
• 256 KB Flash
• 64 KB SRAM

For Cubli attitude estimation it utilizes the SparkFun 9Dof Sensor Stick inertial measurement unit (IMU) composed by the ST LSM9DS1 motion-sensing system-in-a-chip:

• 3D gyroscope (±245/±500/±2000 dps)
• 3D accelerometer (±2g/±4g/±8/±16 g)
• I2C serial bus (100 kHz and 400 kHz)

For reaction wheel estimation and control it utilizes the Maxon EC 45 flat motor together with the Maxon ESCON Module 50/5 controller:

• 24V/50W brushless motor with hall sensors
• 50V/5A/250W 4-quadrant PWM controller

All the remaining mechanical and electrical parts (aluminuim structure, PCBs, etc.) were tailor-made in Autodesk Fusion 360 and Autodesk Eagle and can be found in this other repository.

Source code

The source code is organized as follows:

./                                       | Root
 main.cpp                                | Main source code (call one of the programs)
 + programs                              | Programs files
 |   + examples                          | Example programs
     |  + drivers                        | Driver example programs
     |  + modules                        | Modules example programs
 + src                                   | Source files
 |   cubli.h                             | Include all header files
 |  + drivers                            | Drivers files
    |   hall.h/.cpp                      | Hall sensor class [header / source code]
    |   lsm9ds1.h/.cpp                   | IMU sensor class [header / source code]
    |   motor.h/.cpp                     | Motor controller class [header / source code]
 |  + modules                            | Modules files
    |   estimator_speed.h/.cpp           | Speed estimator [header / source code]
    |   estimator_attitude.h/.cpp        | Attitude estimator [header / source code]
    |   controller_attitute_wheel.h/.cpp | Attitude and wheel controller [header / source code]
 |  + utils                              | Utility files
    |   parameters.h                     | Parameters (physical constants, controller gains, etc.)
    |   pin_names.h                      | Pin names
 + mbed-os                               | ARM Mbed OS source files (automatically imported)

Importing

You can import this project directly to Mbed Studio or Mbed Online Compiler.

Mbed Studio

1. Install and open Mbed Studio
2. Click on File>Import Program...
3. Paste https://github.com/fbobrow/cubli-firmware/ under URL and then click Add Program

Mbed Online Compiler

1. Open Mbed Online Compiler
2. Click on Import>Click here to import from URL
3. Paste https://github.com/fbobrow/cubli-firmware/ under Source URL: and then click Import

Building

You should choose the NUCLEO-L432KC platform as Target while builging the project or adapt it to your Mbed compatible board.