Index

MicroWorks 30B4 board

  1. Datasheets 30B4
    1. STM32F103
      1. ADC
      2. STM32 EEPROM
    2. MPU6050
      1. DMA
      2. Issue communications
        1. 01
    3. MPU6050 freq
  2. firmware motor control
  3. Implementations with MicroWorks 30B4 board
  4. Links to sellers

MicroWorks 500W 30km/h motor

  1. BEMF measurements

Flash and Debug STM32

  1. Eclipse IDE and JTAG
  2. Unlock STM32F103 with JTAG
  3. Flash firmware using Bluetooth
    1. STM32F103C6T8 bootloader
    2. ZS-040 Bluetooth module
      1. HC-06 hc01.comV2.0
  4. Serial Port Bluetooth
  5. Serial Port Plot
  6. SM32F103C8T6 use 128kbytes flash

FOC

  1. Observer
  2. Shane Colton documentation and firmware
    1. Firmware
    2. Part 1: Field-Oriented
    3. Part 2: Field-Oriented
    4. Sensorless Pneu Scooter - part 1
    5. Sensorless Pneu Scooter - part 2
    6. Sensorless Pneu Scooter - part 3
  3. Texas Instruments videos
  4. Chinese controllers code

Balance controller

  1. Chinese balance group reference design
  2. Kerry D. Wong -- A Self-Balancing Robot
    1. A Self-Balancing Robot – I
    2. A Self-Balancing Robot – II
    3. A Self-Balancing Robot – III
  3. Self balance bicycle
  4. PID
  5. LQR
    1. Stages of development of the robot-balancer
  6. PID and LQR, MATLAB
  7. Steve Brunton videos

Mechanical parts

  1. Pedals

Various

  1. C language for critical systems
  2. Hall effect sensor placement
  3. The brilliant idea of slow rotating motors
    1. Why does the Torquemax rotate so slowly and so forcefully
  4. Finding Motor Phase-Sensor Combinations

Clipping

  1. Hackaday - 2017.05.07 - opensource firmware for hoverboards

Serial Port Bluetooth


Software Serial Port
• cutecom

First step : pair the device and provide the PIN


I tried to setup from GUI the pairing, but it wasn't working. Here is the command line way to proceed that worked for me. First, let us pair the device from command line. Run :

sudo bluetoothctl

Be sure that the bluetooth device is started :
# power on

We now start the agent that will "remember the pin" for rfcomm :
# agent on

Now we enable the scan mode to find our device and be able to pair it :
# scan on

After a few seconds the MAC of your device should appear. We will denote it as after. Then, you just need to pair the device like this :

# pair <MAC>
You will be asked to type a PIN, by default it's 1234 on my HC-05 device. You can note that it's possible that you device connect then disconnect with a message like that :
[CHG] Device 20:16:10:24:29:77 UUIDs: 00001101-0000-1000-8000-00805f9b34fb
[CHG] Device 20:16:10:24:29:77 ServicesResolved: yes
[CHG] Device 20:16:10:24:29:77 Paired: yes
Pairing successful
[CHG] Device 20:16:10:24:29:77 ServicesResolved: no
[CHG] Device 20:16:10:24:29:77 Connected: no
but it's not a problem. You do not need to connect, so you can now quit bluetoothctl by typing Ctrl + D.

images/28-1.png

Provide a usable file /def/rfcomm0


Firstly, be sure that you didn't run any rfcomm command before. Indeed, even if you close with Ctrl+C the program, it still run in background.

sudo killall rfcomm

Now, you can run

sudo rfcomm connect /dev/rfcomm0 98:D3:33:80:6B:FB 1 &

Note that if you try to write on the input of rfcom, nothing happened. You need to use another program.