betz_experimental

greetings

This repo is an experimental collection of firmware and software for the Betz drive, with emphasis on real-time control frequency and reducing current control noise. The firmware is currently written bare-metal on the STM32, without an OS or platform library of any sort.

notes

• MCU: STM32F405RG

getting ready

Because the betz_mini board is designed around STM32G4, it needs the latest openocd, rather than what is distributed with Ubuntu 18.04. To build openocd and install it into /usr/local :

sudo apt install gcc-arm-none-eabi

mkdir ~/tools
cd ~/tools
git clone git://repo.or.cz/openocd.git
cd openocd
./bootstrap
./configure
make
sudo make install

If you want to flash firmware directly to the board, and you don't have a udev rule set up yet for your SWD programmer, you'll need something like this (the VID/PID is for the Olimex USB-TINY-H programmer):

ACTION=="add", ATTR{idVendor}=="0403", ATTR{idProduct}=="6010", MODE:="666"

then run sudo udevadm trigger to reload the rules.

compiling firmware

cd firmware
mkdir build
cd build
cmake ..
make

flashing stuff

First, connect a SWD programmer to the header on the board. If it doesn't exist already, add an appropriate rule in /etc/udev/rules.d so you don't need sudo to access the device. Then, from the firmware build directory:

make PROGRAM.flash_swd