UM0289

ST10 firmware

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4

ST10 firmware

The firmware to manage the eMotion system is organized in two separate modules:

●

Communication module: able to exchange data with the PC-GUI using a structured

protocol.

●

Control module: able to perform the open and closed loop operation on three motors

and communicates with the first module.

Note:

All the firmware is developed, in standard C language, using tasking toolchain v 8.5 from

Altium.

4.1

Communication protocol

The serial protocol used for communicate with PC-GUI is a frame based protocol, with a

baud rate of 115200, 8-bit data length, no parity check, 1 bit stop.

The frame has a variable length, with a CRC field. A mechanism of acknowledgement for

each command is implemented.

Figure 11.

Frame protocol

Figure 11 shows the general frame format on which the communication is based, the CRC is

a field of 1 byte length computed with this formula:

16_Total_Length = (16_bit) (FRAME_TYPE + LENGTH + DATA)

CRC = (8_bit) (High_Byte(16_Total_Length) + Low_Byte(16_Total_Length))

Table 4 shows the general description of the frames.

Table 4.

Frame description

Frame name

Description

Frame Type

Length

Direction

Type

Connect

Open

connection

0x00

0

PC-MDK ST10 Command

Enable_Motor

Enable motor

drive

0x01

1

PC-MDK ST10 Command

Disable_Motor

Disable motor

drive

0x02

1

PC-MDK ST10 Command

Brake_Motor

Enable brake

motor drive

0x03

1

PC-MDK ST10 Command

Unbrake_Motor

Disable brake

motor drive

0x04

1

PC-MDK ST10 Command

Forward_Motor

Set forward

motor direction

(6205 motor

drive)

0x05

1

PC-MDK ST10 Command

Frame Type

Length

Payload

CRC

1 byte

1 byte

variable length

1 byte