Aotenjo Master

This is Aotenjo Master board firmware repository. It controls the motors with the CAN protocol.

Features

• STM32G431CB (128KB Flash, 32KB RAM, 170MHz)
• CAN (up to 1Mbps)
• USB type C

Install

Install this repo

git clone https://github.com/aotenjo-xyz/master.git 

Install dependencies(SimpleCanLib)

mkdir Libraries
cd Libraries
git clone https://github.com/yuichiroaoki/SimpleCanLib.git
git checkout CANSendByte

Directory structure

├── Libraries
│   └── SimpleCanLib
└── master
    ├── include
    ├── lib
    ├── LICENSE
    ├── platformio.ini
    ├── README.md
    ├── src
    └── test

Usage

Send target command to the motor

M<motor<id>A<target>

e.g. Set motor 1 position to 6.28 rad

M0A6.28

Get motor position

M<motor_id>P

e.g. Get motor 1 position

M0P

Emergency stop

ESTOP

Development

Format

make format

References

• Igitigit2/SimpleCanLib: CAN bus library for ESP32 and STM32 G431
• mackelec/meFDCAN: Arduino FDCAN library for stm32G4 microcontrollers