I will try to annotate the motor driver algorithms starting with a simple, brute force Trapezoidal algorithm. If you try to read papers on motor drivers you will see a lot of advanced math, but you will find very few papers explaining how simple it actually is, so I will try to do that here.…
Running a BLDC (3-phase motor) you need to insert and tune some parameters with regards to size of motor, number of winding, how much current do you output etc. But, more important is the algorithm and technique you chose matching the job at hand. You have three different algorithms (FOC, Sinusoidal, Trapezoidal) and a variety…
Many of you have seen this before – it’s my 60V/50A 3-Phase Motor Driver “Thunderstick”. It was a messy first assembly with greece coming through PCB holes, but I am all in all very happy with this design and will be using three of these controllers on the lawn mower. These are quite advanced drivers…
A module like ZED-F9P cost 148.- EUR and cover all these with an accuracy of 10 cm. The cost of thus module is currently a limitations, but cost will come down. I am more interested in the fact that it announce 10cm accuracy which open up a lot of usability options. The classic 2.5 meters…
I recently studied a robotic lawn mover and realized that I can easily build one of those myself. To get started I need two wheels with separate motors and the picture above is the driving mechanism for an electric scateboard. The wheels are 200mm in diameter and entire construction is ca 400mm wide. It is…
Arduino recently launched a new version of NANO with a powerfully 32-bit ARM M4 core, 64Mhz speed, 1Mb Flash and 256 Mb SRAM. And this is just the beginning. It’s MCU is nRF52840 that also contains a BLE Radio and SW stack. It has all the features you expect from a modern M4, but it…
STM32L011F4 only have 16Kb Flash, and as I generate the code I need from STM32CubeIDE it compiles to 11,37Kb on Debug, leaving only 4,63Kb Free for the application. Looking at the map I see several nasty C functions n the drivers. The GCC compiler is decently good and greedy on bytes, but that don’t help…
This is the block diagram for XPortHub2 with an added Watchdog/D-bus. My objective here is that I want to add some features to the board and decided to do an experiment adding an external Watchdog/D-Bus by using a smaller STM32 in support. SPX3819 can be switched on/off enabling me to power a board on/off. Adding…
Fiber modules have been around for some years. The picture below show a 14.- USD 8 x Ethernet/2 x Fiber Mux/Switch that can be found on AliExpress etc. I have also seen smaller modules and 16 x Ethernet modules in the same price range – also boxed versions. The interesting thing about these is that…
The industry around me is a heavy user of CANopen (SIIS2) which is the “Subsea” version of a CAN protocol. CANopen is similar to Modbus, but it offer more functionality. It is also a more complicated protocol stack that tend to cost from 5-15K USD depending on content. I have written CANopen protocols in the…