gn10-motor

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This repository contains firmware for the HTMDv2.2c and HTMDv2.2s boards.

HTMDv2.2c supports two MCUs: STM32F303K8T6 and STM32G431K8T6. HTMDv2.2s supports STM32G431CEU6.

Board Overview

Common Features (all boards)

Feature	Detail
Motor driver IC	A3921 gate driver
Encoder	Incremental encoder (4096 counts/rev)
Board ID	4-bit DIP switch (0– 15)
Limit switch	LIM1
Control cycle	1 ms (1 kHz)
Communication	CAN bus (gn10_can)

HTMDv2.2c-f303 (STM32F303K8T6)

Feature	Detail
CAN	Standard CAN 2.0B
Sensors	—

LED Indicators

LED	Color	Behavior
LED1	Red	Toggles every 100 ms — confirms control loop is running
LED2	Red	Lit during reverse rotation (target < 0)
LED3	Blue	Lit while rotating (target ≠ 0)
LED4	Green	Lit after initialization

HTMDv2.2c-g431 (STM32G431K8T6)

Feature	Detail
CAN	FDCAN
Sensors	—

LED Indicators

LED	Color	Behavior
LED1	Red	Toggles every 100 ms — confirms control loop is running
LED2	Red	Lit during reverse rotation (target < 0)
LED3	Blue	Lit while rotating (target ≠ 0)
LED4	Green	Lit after initialization

HTMDv2.2s (STM32G431CEU6)

Feature	Detail
CAN	FDCAN
Temperature sensor	TMP275 (I2C, ±0.5°C accuracy)
Current sensor	MCP3421 (I2C, 16-bit ADC, PGA ×1)

LED Indicators

LED	Behavior
LED_LGC_PWR	Toggles every 100 ms — confirms control loop is running
LED_CAN	Lit after initialization

Documentation

Document	Description
CONTRIBUTING.md	Development flow, commit conventions, coding rules
docs/coding-rules.md	Detailed coding rules

Development Environment Setup

Common

Install CMake Tools extension for VSCode.

Ubuntu

sudo apt update
sudo apt install -y build-essential cmake ninja-build gcc-arm-none-eabi gdb-multiarch

Windows(for STM32)

Install STM32CubeCLT.

Build

for STM32F303K8T6 (HTMDv2.2c-f303):

cmake --preset HTMDv2.2c-f303-debug
cmake --build --preset HTMDv2.2c-f303-debug

for STM32G431K8T6 (HTMDv2.2c-g431):

cmake --preset HTMDv2.2c-g431-debug
cmake --build --preset HTMDv2.2c-g431-debug

for HTMDv2.2s:

cmake --preset HTMDv2.2s-debug
cmake --build --preset HTMDv2.2s-debug

Class Diagram

Contributing

See CONTRIBUTING.md for details.

License

This project is licensed under the Apache-2.0 - see the LICENSE file for details.