This is Aotenjo One board firmware repository. It controls a gimbal motor and communicates with the main controller via CAN bus.

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Features

• STM32G431CB (128KB Flash, 32KB RAM, 170MHz)
• Closed loop FOC control
• CAN (up to 1Mbps)
• I2C, UART, SPI
• based on DRV8313
• 2.5A peak current
• 8-35V input voltage
• 14-bit magnetic encoder
• Emergency stop command

Install this repo

git clone https://github.com/aotenjo-xyz/one.git 

Install dependencies (SimpleCanLib)

mkdir Libraries
cd Libraries
git clone https://github.com/yuichiroaoki/SimpleCanLib.git
git checkout CANSendByte-Serial1

Directory structure

├── Libraries
│   └── SimpleCanLib
└── one
    ├── include
    ├── lib
    ├── LICENSE
    ├── platformio.ini
    ├── README.md
    ├── src
    └── test

Format

make format

• Igitigit2/SimpleCanLib: CAN bus library for ESP32 and STM32 G431
• mackelec/meFDCAN: Arduino FDCAN library for stm32G4 microcontrollers