Control software for the Guass Speedway.
This runs on an STM32F051 MCU, reads the capacitive touch sensors, and drives the three current outputs (two bipolar phases + one guard rail) accordingly. It also has a serial port to send data for debugging, or for whatever modifications might come up.
There are two crates:
appis the main bin cratetouchcontains a driver for the TSC peripheral and processing for touch UI elements.
I envision the touch crate could be a useful stand-alone and hope to do a more development on it and pull it out.
TIM1 and TIM3 are used for generating the six 30kHz PWM signals (two per phase for controlling the
direction of the h-bridge driver), and the driver for this can be found in app/src/pwm.rs. The two
bipolar phases are driven like a stepper with sinusoidal microstepping. The TIM2 IRQ is used to
control the timing of motor steps.
USART1 on PB6/PB7 is used for reporting touch values, and available for further hacking as needed. It's wired out to the 8-pin JST PH debug connector.
To build:
cargo build --release
To flash:
I use cargo-flash and the programming command can be found
in flash.sh.
Or use whatever programming tool you prefer.