https://os.mbed.com/docs/mbed-os/v6.15/build-tools/install-or-upgrade.html
$ 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$ brew install stlinkWhen writing on battery power, the power switch must be held down to prevent power loss during writing.
$ st-flash --connect-under-reset write cmake_build/LEXXPLUSS_PB01/develop/GCC_ARM/LexxHard-PowerBoard-Firmware.bin 0x8000000On 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 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) |
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 |
Power Board Notification (Published from Power Board)
| byte offset | info | detail |
|---|---|---|
| 0 | Notification code | 1: battery remaining |
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 |
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 |
Power Board Log Message (Published from Power Board)
| byte offset | info | detail |
|---|---|---|
| 0-7 | message | NULL terminate string |
Copyright (c) 2022, LexxPluss Inc. Released under the BSD License.