3x8 / nostromo Goto Github PK

test yml

Hi! Do you have any other communication means except for github issues? Like some forum, discord server or telegram channel?
I am super excited after finding this awesome project but it looks like there is no documentation...
I want to test it on my tricopter with SucceX 50A v2, but I'm not sure if it's the same device as SUCCEX50AV2 target. Do I have to replace stock BLHeli32 bootloader with costaguana? And if yes, is it possible to backup original one? Should I do it with STLink or maybe it's possible to reflash the BL without external swd debugger? Any docs or notes would be awesome!
Thanks!

Hi,

First of all I would like to say that your implementation is very clean and readable, thanks for posting such a valuable work. I was searching for a regenerative breaking solution and found your repository. I read the code of motor.c and have a question. Could you please help me with it?

There is a code for pin initialization for fd6288,
And I am trying to understand the logic of complementary PWM and regenerative brake.

#if defined(FD6288)
void motorPhaseA(uint8_t hBridgeMode) {
switch (hBridgeMode) {
case HBRIDGE_PWM:
if (!motor.ComplementaryPWM || motor.BrakeActiveProportional) {
LL_GPIO_SetPinMode(A_FET_LO_GPIO, A_FET_LO_PIN, LL_GPIO_MODE_OUTPUT);
A_FET_LO_GPIO->BRR = A_FET_LO_PIN;
} else {
LL_GPIO_SetPinMode(A_FET_LO_GPIO, A_FET_LO_PIN, LL_GPIO_MODE_ALTERNATE);
}
LL_GPIO_SetPinMode(A_FET_HI_GPIO, A_FET_HI_PIN, LL_GPIO_MODE_ALTERNATE);
break;

It seems that the gate driver pins are not in PWM mode because of this
if (!motor.ComplementaryPWM || motor.BrakeActiveProportional). If complementary pwm is set on, the brake should be set to full mode, in order to configure the pins in alternate function and generate complementary PWM, but in main.c the motorBrakeFull() function is called which sets che pins as GPIO output. So it looks like the regenerative braking could not be used with fd6288, while it looks OK for ncp3420 drivers.

#if defined(NCP3420)
void motorPhaseA(uint8_t hBridgeMode) {
switch (hBridgeMode) {
case HBRIDGE_PWM:
LL_GPIO_SetPinMode(A_FET_OE_GPIO, A_FET_OE_PIN, LL_GPIO_MODE_OUTPUT);
A_FET_OE_GPIO->BSRR = A_FET_OE_PIN;
LL_GPIO_SetPinMode(A_FET_IN_GPIO, A_FET_IN_PIN, LL_GPIO_MODE_ALTERNATE);
break;
I would be very happy if you could help me understanding the regenerative braking approach and the complementary drive mode.

Sorry for my bad English, it is not my native language.