LexxPluss Power Board Software

Install Mbed CLI 2 (mbed-tools).

https://os.mbed.com/docs/mbed-os/v6.15/build-tools/install-or-upgrade.html

Install ARM embedded toolchain

https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm/downloads

Build

$ git clone https://github.com/LexxPluss/LexxHard-PowerBoard-Firmware.git
$ cd LexxHard-PowerBoard-Firmware
$ mbed-tools deploy
$ mbed-tools compile -m LEXXPLUSS_PB01 -t GCC_ARM

Install STLINK Tools

$ brew install stlink

Program

When writing on battery power, the power switch must be held down to prevent power loss during writing.

STLINK Tools (Open souce version)

$ st-flash --connect-under-reset write cmake_build/LEXXPLUSS_PB01/develop/GCC_ARM/LexxHard-PowerBoard-Firmware.bin 0x8000000

STM32CubeProgrammer

On the right side, select ST-LINK, Port is SWD, Reset mode is Hardware reset, and Connect to connect. The Erasing & Programming screen is displayed on the left side. Select a file to write with File path, Start address is 0x08000000, and Start Programming to start writing.

Power Board CAN message

512 (0x200)

Power Board Status (Published from Power Board)

byte offset	info	detail
0	switch status bitmap
1	power status bitmap
2	dc/dc failure bitmap / bmu status bitmap
3	state, wheel disabled bitmap
4	fan duty	0-100 (%)
5	charge connector temperature (Positive)	0-100 (degC)
6	charge connector temperature (Negative)	0-100 (degC)
7	board temperature	-50-127 (degC)

513 (0x201)

Main Board and ROS Status (Published from Main Board)

byte offset	info	detail
0	Emergency stop	1:asserted
1	Power off	1:asserted
2	ROS Heartbeat timeout	1:asserted
3	mainboard overheat
4	actuatorboard overheat
5	wheel poweroff

514 (0x202)

Power Board Notification (Published from Power Board)

byte offset	info	detail
0	Notification code	1: battery remaining

515 (0x203)

Power Board Version Message (Published from Power Board)

byte offset	info	detail
0	major	major version number
1	minor	minor version number
2	patch	patch number

516 (0x204)

Power Board Auto Charge Status (Published from Power Board)

byte offset	info	detail
0	voltage (LSB)	auto charge connector voltage (LSB) (mV)
1	voltage (MSB)	auto charge connector voltage (MSB) (mV)
2	count	voltage check count
3	heartbeat delay	time since the last heartbeat was received (sec)
4	temperature error	connector temperature sensor error

768 (0x300)

Power Board Log Message (Published from Power Board)

byte offset	info	detail
0-7	message	NULL terminate string

License

Copyright (c) 2022, LexxPluss Inc. Released under the BSD License.