pybldc

pybldc

Desenvolvido por Kristian Sloth Lauszus, 2024

O código é lançado sob a Licença Pública Geral GNU v3.0.

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Propósito

Esta ferramenta permite que você atualize um VESC via barramento CAN ou serial/USB usando Python.

Instalação e execução

Para instalar:

pip install .

Ou instale a versão mais recente do PyPI:

pip3 install -U pybldc

CLI

Uma ferramenta CLI útil está incluída:

$ pybldc -h
usage: pybldc [-id CONTROLLER_ID] [-i INTERFACE] [-l CHANNEL] [-p PORT] [-h] [--version] [-B BINARY] [--bootloader] [-t TIMEOUT] [-r PING_REPEAT] [-b BAUDRATE] [--debug] {can,serial} {upload,ping,reset}

positional arguments:
  {can,serial}          Communicate with the target via either CAN or serial
  {upload,ping,reset}   upload: write BINARY
                        ping: send a ping command to the target and check for a response
                        reset: send a reset command to the target and check for a response

required CAN arguments:
  -id CONTROLLER_ID, --controller-id CONTROLLER_ID
                        The VESC ID used for communication

optional CAN arguments:
  -i INTERFACE, --interface INTERFACE
                        The CAN-Bus interface to use (default " socketcan " )
  -l CHANNEL, --channel CHANNEL
                        The CAN-Bus channel to use (default " can0 " )

required serial arguments:
  -p PORT, --port PORT  The port to use for serial

optional arguments:
  -h, --help            Show this help message and exit
  --version             Show program ' s version number and exit
  -B BINARY, --binary BINARY
                        The binary to upload
  --bootloader          The binary to upload is a bootloader
  -t TIMEOUT, --timeout TIMEOUT
                        The time to wait in seconds for a response (default 5.0)
  -r PING_REPEAT, --ping-repeat PING_REPEAT
                        The number of times to try to establish a connection by pinging the VESC (default 3)
  -b BAUDRATE, --baudrate BAUDRATE, --bitrate BAUDRATE
                        The baudrate/bitrate to use for serial/can (defaults to 115200 for serial and 500000 for CAN)
  --debug               Turn on debug logs

Carregar

 pybldc can upload -id 1 -B VESC.bin

 pybldc serial upload -p /dev/ttyACM0 -B VESC.bin

Pingar

 pybldc can ping -id 1

 pybldc serial ping -p /dev/ttyACM0

Reiniciar

 pybldc can reset -id 1

 pybldc serial reset -p /dev/ttyACM0

Aumentar o buffer TX

No Linux pode ser necessário aumentar o tamanho do buffer TX:

sudo ip link set can0 txqueuelen 1000

Crédito

• Firmware VESC: https://github.com/vedderb/bldc
• Carregador de inicialização VESC: https://github.com/vedderb/bldc-bootloader
• Ferramenta VESC: https://github.com/vedderb/vesc_tool