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# hoverboard-firmware-hack-FOC # hoverboard-firmware-hack-FOC
## with Field Oriented Control (FOC)
[![Build Status](https://travis-ci.com/EmanuelFeru/hoverboard-firmware-hack-FOC.svg?branch=master)](https://travis-ci.com/EmanuelFeru/hoverboard-firmware-hack-FOC) [![Build Status](https://travis-ci.com/EmanuelFeru/hoverboard-firmware-hack-FOC.svg?branch=master)](https://travis-ci.com/EmanuelFeru/hoverboard-firmware-hack-FOC)
[![License: GPL v3](https://img.shields.io/badge/License-GPLv3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0) [![License: GPL v3](https://img.shields.io/badge/License-GPLv3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0)
[![paypal](https://www.paypalobjects.com/en_US/i/btn/btn_donate_SM.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_donations&business=CU2SWN2XV9SCY&currency_code=EUR&source=url) [![paypal](https://www.paypalobjects.com/en_US/i/btn/btn_donate_SM.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_donations&business=CU2SWN2XV9SCY&currency_code=EUR&source=url)
@ -9,6 +8,7 @@ This repository implements Field Oriented Control (FOC) for stock hoverboards. C
- smooth torque output and improved motor efficiency. Thus, lower energy consumption - smooth torque output and improved motor efficiency. Thus, lower energy consumption
- field weakening to increase maximum speed range - field weakening to increase maximum speed range
--- ---
## Hardware ## Hardware
@ -20,6 +20,7 @@ Both USART2 & 3 can be used for UART and I2C, PA2&3 can be used as 12bit ADCs.
The reverse-engineered schematics of the mainboard can be found here: The reverse-engineered schematics of the mainboard can be found here:
http://vocke.tv/lib/exe/fetch.php?media=20150722_hoverboard_sch.pdf http://vocke.tv/lib/exe/fetch.php?media=20150722_hoverboard_sch.pdf
--- ---
## FOC firmware ## FOC firmware
@ -98,7 +99,7 @@ The error codes above are reported for each motor in the variables **errCode_Lef
Right to the STM32, there is a debugging header with GND, 3V3, SWDIO and SWCLK. Connect GND, SWDIO and SWCLK to your SWD programmer, like the ST-Link found on many STM devboards. Right to the STM32, there is a debugging header with GND, 3V3, SWDIO and SWCLK. Connect GND, SWDIO and SWCLK to your SWD programmer, like the ST-Link found on many STM devboards.
If you have never flashed your sideboard before, the MCU is probably locked. To unlock the flash, check-out the [wiki page](link). If you have never flashed your sideboard before, the MCU is probably locked. To unlock the flash, check-out the wiki page [How to Unlock MCU flash](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/wiki/How-to-Unlock-MCU-flash).
Do not power the mainboard from the 3.3V of your programmer! This has already killed multiple mainboards. Do not power the mainboard from the 3.3V of your programmer! This has already killed multiple mainboards.
@ -142,6 +143,7 @@ Recommendation: Nunchuk Breakout Board https://github.com/Jan--Henrik/hoverboard
Most robust way for input is to use the ADC and potis. It works well even on 1m unshielded cable. Solder ~100k Ohm resistors between ADC-inputs and gnd directly on the mainboard. Use potis as pullups to 3.3V. Most robust way for input is to use the ADC and potis. It works well even on 1m unshielded cable. Solder ~100k Ohm resistors between ADC-inputs and gnd directly on the mainboard. Use potis as pullups to 3.3V.
--- ---
## Example Variants ## Example Variants
@ -156,6 +158,7 @@ This firmware offers currently these variants (selectable in [platformio.ini](/p
Of course the firmware can be further customized for other needs or projects. Of course the firmware can be further customized for other needs or projects.
--- ---
## Acknowledgements ## Acknowledgements
@ -165,12 +168,13 @@ Last but not least, I would like to acknowledge and thank the following people:
- Github: all the people that contributed via Pull Requests - Github: all the people that contributed via Pull Requests
- ST Employee: [cedric H](https://community.st.com/s/question/0D50X0000B28qTDSQY/custom-foc-control-current-measurement-dma-timer-interrupt-needs-review) - ST Employee: [cedric H](https://community.st.com/s/question/0D50X0000B28qTDSQY/custom-foc-control-current-measurement-dma-timer-interrupt-needs-review)
--- ---
## Contributions ## Contributions
Every contribution to this repository is highly appriciated! Feel free to create pull requests to improve this firmware as ultimately you are going to help everyone. Every contribution to this repository is highly appriciated! Feel free to create pull requests to improve this firmware as ultimately you are going to help everyone.
If you want to donate to keep this firmware updated, check-out the link below: If you want to donate to keep this firmware updated, use the link below:
[![paypal](https://www.paypalobjects.com/en_US/NL/i/btn/btn_donateCC_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_donations&business=CU2SWN2XV9SCY&currency_code=EUR&source=url) [![paypal](https://www.paypalobjects.com/en_US/NL/i/btn/btn_donateCC_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_donations&business=CU2SWN2XV9SCY&currency_code=EUR&source=url)