Instead of adapting mbed firmware, I decided to port Ben Katz's new version of firmware. See repo https://github.com/ptrbroz/motorcontrol_stm32g474re .
Firmware for Sk8O motor driver - a new bldc driver board inspired by Ben Katz's HKC Driver Integrated.
The goal of this repostory is the adaptation of Martin Gurtner's firmware (for HKC Driver) to:
- Use STM32G474RET6 (instead of STM32F446RE which was used in HKC)
- Adapt to different pinout in Sk80 driver board
- Shed the shackles of laggy and generally annoying os.mbed.com
Martin Gurtner's firmware is available from: https://os.mbed.com/users/MartinGurtner/code/HKC_MiniCheetah/, but don't bother trying to download it from there, the download/clone function is bugged, or at least it was between March and April 2021.
Instead, you can download Martin Gurtner's original firmware from a subfolder in the third commit in this repo ( https://github.com/ptrbroz/Sk8O-driver-firmware/tree/a7edee5446789a3a4b236f24341ec514cf6f1df4 )
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