vesc-firmware

Firmware and configuration files for the Vedder Electronic Speed Controller (VESC) firmware version 5.02. There are firmware builds for the VESC6 MkIII, MkIV, and MkV. See releases for previous versions.

This is a convenience repository for VESC firmware and configuration files for RACECAR/J.

There is a configuration file for for VESC 6 in the VESC-Configuration/vesc6_upenn_foc.xml.

Quick install instructions

This firmware may be flashed using the vesc-tool: https://vesc-project.com/vesc_tool version 3.00. Earlier version of the VESC Tool will upload the firmware, but will not interact with it properly.

It may be necessary to download the bootloader to the VESC. The bootloader is available in the VESC Tool, Firmware->Bootloader.

Bootloader installation instructions

• Connect your VESC via USB to your host computer. Power on the VESC.
• Open the VESC Tool.
• Click Autoconnect.
• Go to the Firmware section on the left.
• Go to the Bootloader tab at the top.
• Click the Upload button in the bottom-right.
• Click "Write Motor Configuration".
• Click "Write App Configuration".

Firmware Installation

• Connect your VESC via USB to your host computer. Power on the VESC.
• Click Autoconnect.
• Go to the Firmware section on the left
• Go to the Custom File tab.
• Click the folder icon and browse to the appropriate VESC_TOOL folder and firmware binary for your VESC.
• Click the Upload button in the bottom-right.

Once this is complete, wait at least 10 seconds before re-connecting to configure additional parameters.

How the firmware is built

The general instructions for building the firmware are on the Vedder Github account, bottom of the page: https://github.com/vedderb/bldc Before building, you will need to change a parameter which tells the firmware to use the PPM port to as an output. We use that to control the steering servo.

$ git clone https://github.com/vedderb/bldc.git

$ cd bldc

Edit the file conf_general.h and change:

#define SERVO_OUT_ENABLE 0

to:

#define SERVO_OUT_ENABLE 1

then you are ready to build:

$ make

You will also need to enable the correct version of the hardware from the list of #defines. For example the current default in conf_general.h is:

#define HW60_IS_MK5

Indicating that the firmware build will be for a VESC6 MkV.

The resulting firmware file after the build will be inside the "build" directory: BLDC_4_ChibiOS.bin

Typically you will rename this to something more descriptive.

You can then upload this to the VESC using the VESC tool.

Notes

January 2021

• This is for version 5.02 of the VESC firmware. There are versions for the VESC6 MkIII, MkIV, and MkV.
• Install with VESC Tool Version 3.0+ https://vesc-project.com/vesc_tool

September 2020

• Add firmware and configuration for the VESC MkIV, firmware version 5.01.

October 2019

• Add configuration for VESC 6 Plus