This manual gives a basic info about Phobia Motor Controller (PMC). Look into other docs for specific issues.
We do not assemble hardware for sales. You can get appropriate revision of PCB from repo and order fabrication and assembly somewhere.
# hg clone https://hg.code.sf.net/p/phobia/pcb phobia-pcb
The aim of our PCB design is to optimize electrical and thermal performance. We are not trying to cram all the components into a small volume. However, we sometimes cross the border of quality in favor of PCB size.
There is two parts of software:
- Numerical model of VSI with BLDC connected. The model enables us to develop control code in fast cycle without hardware tests. It is complete enough to take into account all of motor parameters.
- Firmware for MCU.
The firmware can be compiled with appropriate GCC toolchain for Cortex-M4F target.
# hg clone https://hg.code.sf.net/p/phobia/code phobia
# cd phobia/src
# make flash
We use stmflasher to upload the firmware into MCU. You should have a serial port connected to the board USART pins and BOOT pin shorted to the +3.3v. Alternatively, you can use SWD.
After the firmware is loaded the command line interface (CLI) will be available through the same USART. We use picocom terminal program. Default baudrate is 57600 with 8 bits of data and even parity.
# make connect
Command Line Interface
Motor Identification
Motor Tuning
Input Pulse Width
Input Analog
Trouble Shooting