Add support for YardForce Rev4 adapter board. (#116)

* Add support for YardForce Rev4 adapter board. * Feature/yf rev4 adapter (#118) * Config sample * Add xesc_2040_w_r4ma config * Fix submodule ref * reverted sumbodule --------- Co-authored-by: Apehaenger <[email protected]> --------- Co-authored-by: Apehaenger <[email protected]>
ClemensElflein · Jul 4, 2024 · 0bfd489 · 0bfd489
1 parent 7570df9
commit 0bfd489
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Showing 5 changed files with 60 additions and 2 deletions.
diff --git a/config/mower_config.schema.json b/config/mower_config.schema.json
@@ -38,7 +38,9 @@
           "title":"ESC Type",
           "enum":[
             "xesc_mini",
-            "xesc_2040"
+            "xesc_2040",
+            "xesc_mini_w_r4ma",
+            "xesc_2040_w_r4ma"
           ],
           "default":"xesc_mini",
           "description":"Select which ESC (speed controller) type you are using. Use xesc_mini if unsure.",

diff --git a/config/mower_config.sh.example b/config/mower_config.sh.example
@@ -49,7 +49,9 @@ export OM_MOWER="YardForce500"
 # Select your ESC type
 # Supported values as of today:
 # xesc_mini: for the STM32 version (VESC)
+# xesc_mini_w_r4ma: for the STM32 version (VESC), but with Rev4 (Mow) Motor Adapter (only available for YardForceSA650 mower type)
 # xesc_2040: for the RP2040 version (very experimental!)
+# xesc_2040_w_r4ma: for the RP2040 version (very experimental!), but with Rev4 (Mow) Motor Adapter (only available for YardForceSA650 mower type)
 export OM_MOWER_ESC_TYPE="xesc_mini"
 
 # Select your gamepad

diff --git a/src/lib/xesc_ros b/src/lib/xesc_ros
diff --git a/src/open_mower/params/hardware_specific/YardForceSA650/comms_xesc_2040_w_r4ma_params.yaml b/src/open_mower/params/hardware_specific/YardForceSA650/comms_xesc_2040_w_r4ma_params.yaml
@@ -0,0 +1,42 @@
+left_xesc:
+  xesc_type: "xesc_2040"
+  serial_port: "/dev/ttyAMA4"
+  hall_table_0: 255
+  hall_table_1: 5
+  hall_table_2: 3
+  hall_table_3: 4
+  hall_table_4: 1
+  hall_table_5: 6
+  hall_table_6: 2
+  hall_table_7: 255
+  motor_current_limit: 0.5
+  acceleration: 20.0
+  has_motor_temp: false
+  min_motor_temp: 0
+  max_motor_temp: 0
+  min_pcb_temp: 0
+  max_pcb_temp: 60
+right_xesc:
+  xesc_type: "xesc_2040"
+  serial_port: "/dev/ttyAMA2"
+  hall_table_0: 255
+  hall_table_1: 5
+  hall_table_2: 3
+  hall_table_3: 4
+  hall_table_4: 1
+  hall_table_5: 6
+  hall_table_6: 2
+  hall_table_7: 255
+  motor_current_limit: 0.5
+  acceleration: 20.0
+  has_motor_temp: false
+  min_motor_temp: 0
+  max_motor_temp: 0
+  min_pcb_temp: 0
+  max_pcb_temp: 60
+mower_xesc:
+  xesc_type: "xesc_yfr4"
+  serial_port: "/dev/ttyAMA3"
+  motor_current_limit: 1.5
+  min_pcb_temp: 0
+  max_pcb_temp: 60
diff --git a/src/open_mower/params/hardware_specific/YardForceSA650/comms_xesc_mini_w_r4ma_params.yaml b/src/open_mower/params/hardware_specific/YardForceSA650/comms_xesc_mini_w_r4ma_params.yaml
@@ -0,0 +1,12 @@
+left_xesc:
+  xesc_type: "xesc_mini"
+  serial_port: "/dev/ttyAMA4"
+right_xesc:
+  xesc_type: "xesc_mini"
+  serial_port: "/dev/ttyAMA2"
+mower_xesc:
+  xesc_type: "xesc_yfr4"
+  serial_port: "/dev/ttyAMA3"
+  motor_current_limit: 1.5
+  min_pcb_temp: 0
+  max_pcb_temp: 60