pybldc

pybldc

由 Kristian Sloth Lauszus 開發，2024 年

該程式碼根據 GNU 通用公共授權 v3.0 發布。

---

目的

此工具可讓您使用 Python 透過 CAN 總線或串列/USB 刷新 VESC。

安裝與運行

安裝：

pip install .

或安裝 PyPI 的最新版本：

pip3 install -U pybldc

命令列介面

包含一個方便的 CLI 工具：

$ 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

上傳

 pybldc can upload -id 1 -B VESC.bin

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

平

 pybldc can ping -id 1

 pybldc serial ping -p /dev/ttyACM0

重置

 pybldc can reset -id 1

 pybldc serial reset -p /dev/ttyACM0

增加TX緩衝區

在 Linux 上，您可能需要增加 TX 緩衝區大小：

sudo ip link set can0 txqueuelen 1000

信用

• VESC 韌體：https://github.com/vedderb/bldc
• VESC 引導程式：https://github.com/vedderb/bldc-bootloader
• VESC 工具：https://github.com/vedderb/vesc_tool