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README.md

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PX4ESC firmware

Please refer to the documentation page at http://pixhawk.org/modules/px4esc.

Hardware timer usage

  • TIM1 - 3-phase FET bridge PWM
  • TIM2 - ADC synchronization, works in lockstep with TIM1
  • TIM3 - RGB LED PWM
  • TIM4 - Hard real time callout interface for motor control logic (preempts the kernel)
  • TIM5 - RC PWM input capture
  • TIM6 - High precision timestamping for motor control logic (sub-microsecond resolution, never overflows)
  • TIM7 - General purpose timestamping

Build instructions

Prerequisites:

  • GCC ARM 4.7+
  • Python 2.7 or Python 3.2+

Firmware

git submodule update --init --recursive
cd firmware
make RELEASE=1 # RELEASE is optional; omit to build the debug version

Execute ./blackmagic_flash.sh [portname] from the tools directory to flash the firmware with a Black Magic Debug Probe.

UAVCAN testing tool

This step is optional. Works only for Linux.

Make sure the libuavcan is installed in the system. If not yet:

cd firmware/uavcan
mkdir build
cd build
cmake ..
make
sudo make install

Build the UAVCAN testing tool:

cd tools/uavcan_tool
mkdir build
cd build
cmake ..
make