Project name is "telakone" which translates from Finnish something like "trackbase machine"
Shortly it is machine with rubber tracks, and two 750W BLDC motors, and some auxiliary stuff.
The brains are on custom CPU board, with STM32F407 and TI CC3100 wifi chip.
When finished (never?) it will be a multiuse tool, e.g. snowplow, lawnmower, moves trailer, brings beer, scares deers out of yard, ...
maybe it even will be semiautonomous.
The CPU board can be found from https://github.com/kimmoli/telakone-controller
and ChibiOS based firmware from https://github.com/kimmoli/telakone-fw
CPU Board (seems no CC3100 mounted yet):
Controller in action, joystick drives motors:
https://www.youtube.com/watch?v=1Yga2IpsQ3c
Testing one motor and track:
https://www.youtube.com/watch?v=U_c23dsYWsM
Board has interfaces for joystick, few buttons, RS-485 for expansion, 2 hal-speed sensors, 4 PWM capable digital outputs, one full-bridge driver for a linear motor.
The board itself does not driver BLDC motors directly, but controls external motor controllers with few logic signals (brake, reverse) and 0..5V speed signal.
So far so good. It has been a learning-curve with ChibiOS, but day by day, getting more into it.
It is intended to be controlled from a SailfishOS phone over wifi with UDP datagrams, which are linked to events controlling different threads running in ChibiOS. Shell can be used over UART, or over TCP-raw.
Porting TI simplelink driver to ChibiOS needed some tweaking on simplelink driver itself, it does not follow ChibiOS constraints of mutex unlocking in lock-reverse order.
See here https://e2e.ti.com/support/wireless_con ... 8/t/551042 )
Regards,
-kimmo
