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AutoQuad Forum • View topic - Using M4 with BLDCs - Short How to

Using M4 with BLDCs - Short How to

Info and discussion about the autonomous Micro FC, suitable for nanos, micros and mini multirotors

Using M4 with BLDCs - Short How to

Postby aBUGSworstnightmare » Mon Nov 03, 2014 7:43 am

Attachments
aqv7.0.r440.b1844.zip
r440 firmware revision for use with external BLDC. Contains QUATOS and PID version for BETA (M4r5) and V2 production (M4r6) boards.
NOT FLIGHT TESTED 'TIL DATE!
ATTENTION: ALWAYS USE EXTREME CARE WHEN DEALING WITH CUSTOM FIRMWARE VERSIONS!
(618.36 KiB) Downloaded 650 times
r432_modified files for BLDC use.zip
ATTENTION: ALWAYS USE EXTREME CARE WHEN DEALING WITH CUSTOM FIRMWARE VERSIONS!
(157.03 KiB) Downloaded 689 times
done.jpg
Output window after successful build
output.jpg
Select BIN as ADDITIONAL OUTPUT FORMAT under LINKER OPTIONS (be sure Project 'autoquad' is selected in Project Explorer window!)
project.jpg
Always build THUMB RELEASE for field use!
supply.png
M4 supply voltage schematic - used on 0r1 and 0r2 board only!
supply.png (37.46 KiB) Viewed 19549 times
SANY0011.JPG
M4 BLDC+uSD adapter board
Last edited by aBUGSworstnightmare on Fri Jan 16, 2015 1:52 pm, edited 15 times in total.
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Re: Using M4 with BLDCs - How to

Postby aBUGSworstnightmare » Mon Nov 03, 2014 7:44 am

Here are some screenshots of my Settings. The ESC were HK blue series flashed with SimonK Firmware, onboard Deltang RX used.
1.PNG
Deltang RX settings

2.PNG
Quad X mixer settings - be sure to get the Motor numbers right!

3.PNG
Used HK blue series flashed to SimonK when doing the screenshot. Other ESCs may slightly vary!
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aBUGSworstnightmare M4 BLDC expansion boards

Postby aBUGSworstnightmare » Sat Nov 22, 2014 6:43 pm

Hi,

just want to add the info on my M4 BLDC expansion boards. There are now 3 revisions out there:

0r1: Power supply as shown in the first post
0r1.png
M4 BLDC expansion board 0r1 - connections

0r2: same as 0r1 but with M2 setnuts for easy mounting of the M4 (as pictured in the first post)
0r2.png
M4 BLDC expansion board 0r2 - connections

Revision 0r1 and 0r2 need to have a 5V source (BEC or from ESC) connected for operation. LiPo connector is used for voltage sensing only.

That's why I also developed a new revision - 0r3 - which is directly supplied from the LiPo (2S-3S).
SANY0019.JPG
M4 BLDC expansion board 0r3

0r3.png
M4 BLDC expansion board 0r3 - connections


ATTENTION:
Some components on the expansion board will get warm during operation! Take take of your fingers!


I/O connections:
M5: J2-7 (I2C1-SCL, PB6; MCU Pin58)
M6: J2-6 (I2C1-SDA, PB7; MCU Pin59)
M7: J2-10 (PC6, UART6-TX; MCU Pin37)
M8: J1-10 (PC7, UART6-RX; MCU Pin 38)

Voltage divider input to M4: J2-5 (SPI1-MISO, PA6; MCU Pin22)
This is only available when JP1 is closed and code changes were in place!

The data sheet of the M4 MCU is here: http://www.st.com/web/en/catalog/mmc/FM ... 5/PF252144
Attachments
M4 BLDC Expansion - 0r3.pdf
M4 BLDC expansion board 0r3 - connections
(123.35 KiB) Downloaded 803 times
M4 BLDC Expansion - 0r2.pdf
M4 BLDC expansion board 0r2 - connections
(146.51 KiB) Downloaded 724 times
M4 BLDC Expansion - 0r1.pdf
M4 BLDC expansion board 0r1 - connections
(146.88 KiB) Downloaded 797 times
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Re: Using M4 with BLDCs - Short How to

Postby boriss » Sat Nov 29, 2014 4:50 am

HI Jörg,

little confused. The boards i got from jussi are labeled as Rev4 online and on the license sticker, but the output in the console is HW ver 8 rev5, thus can i use your FW you posted here ?

Thanks

Boris
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Re: Using M4 with BLDCs - Short How to

Postby Max » Sat Nov 29, 2014 5:00 am

Here's the difference between M4 r4 and r5: http://autoquad.org/wiki/wiki/m4-microc ... rst-option

So if you have the wire mod, then you have an "r5".

-Max
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Re: Using M4 with BLDCs - Short How to

Postby boriss » Sat Nov 29, 2014 5:07 am

Thanks okay get it the wired mod turns it into a rev 5 Didn't get that :)

Thanks

Boris
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Re: Using M4 with BLDCs - Short How to

Postby aBUGSworstnightmare » Sat Nov 29, 2014 7:55 am

Attachments
SANY0307.JPG
M4r5 'wire mod' on a 0r2 expansion board
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Re: Using M4 with BLDCs - Short How to

Postby boriss » Sat Nov 29, 2014 9:41 am

Sorry for asking questions that might be obvious to you guys, but does this look like a successful flash attempt ?

C:\Users\Boris Schwarz\Desktop\AQ\aq\bin\dfu-util.exe -a 0 -d 0483:df11 -s 0x08000000:leave -R -D C:\Users\Boris Schwarz\Desktop\r432_modified files for BLDC use\autoquad.bin

dfu-util 0.7

Copyright 2005-2008 Weston Schmidt, Harald Welte and OpenMoko Inc.
Copyright 2010-2012 Tormod Volden and Stefan Schmidt
This program is Free Software and has ABSOLUTELY NO WARRANTY
Please report bugs to dfu-util@lists.gnumonks.org

Filter on vendor = 0x0483 product = 0xdf11
Opening DFU capable USB device... ID 0483:df11
Run-time device DFU version 011a
Found DFU: [0483:df11] devnum=0, cfg=1, intf=0, alt=0, name="@Internal Flash /0x08000000/04*016Kg,01*064Kg,07*128Kg"
Claiming USB DFU Interface...
Setting Alternate Setting #0 ...
Determining device status: state = dfuERROR, status = 10
dfuERROR, clearing status
Determining device status: state = dfuIDLE, status = 0
dfuIDLE, continuing
DFU mode device DFU version 011a
Device returned transfer size 2048
DfuSe interface name: "Internal Flash "
Downloading to address = 0x08000000, size = 226528
...............................................................................................................
File downloaded successfully
Transitioning to dfuMANIFEST state
Resetting USB to switch back to runtime mode
No valid DFU suffix signature
Warning: File has no DFU suffix
Error during download get_status
can't detach

-------------

Rev 432 is shown after the attempt, but didn't even check what i had on before. And in the parameters the Lic key was still present shouldn't that be gone after a FW update ?

Thanks

Boris
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Re: Using M4 with BLDCs - Short How to

Postby Max » Sat Nov 29, 2014 9:48 pm

Yea that seems fine. Sometimes I see that last "can't detach" error from dfu-util, sometimes not. It's trying to detach from the device (M4) and restart it, which I guess sometimes fails. The flashing part works consistently though, so just reboot manually and you're set.

When flashing with dfu-util, the params are preserved. Feature, not a bug! :) I know no one reads it, but the "Confirm Firmware Flashing" prompt in QGC will make the distinction and warn when params will be wiped. Among other things... ;)

usb-flash-warn.png
usb-flash-warn.png (23.39 KiB) Viewed 19328 times


-Max
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Re: Using M4 with BLDCs - Short How to

Postby DUKE40 » Sun Dec 07, 2014 5:29 pm

Hi Jörg,

do you know if there is any possibility to use it on a Hexacopter? I am thinking about building a NanoHexa with an M4 on it, but need to know if this is possible at all without CAN for the ESCs, as ESC32 would be to big for the project.
Best regards,
Image
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