Vortex V1 motor controller¶
From a new Vortex V1 board to the product firmware running, and where to read next.
Motor controller board
Vortex V1
HardFOC
- MCU
- ESP32-C6
- Motor control
- TMC9660 smart gate driver, FOC on chip
- Feedback
- AS5047U magnetic encoder
- Field bus
- CAN, CANopen node in the product firmware
- Firmware
- ESP-IDF 5.5, FreeRTOS, C++
Path¶
- Bring the board up with the HAL. The HAL's quickstart installs ESP-IDF, builds an example and reads its log, one step at a time: HAL quickstart.
- Check the hardware. The pin map and the bring-up guide list every signal and what to check first.
- Build and flash the product firmware. The
getting-started page of
hardfoc-vortex-v1builds with the pinned ESP-IDF and explains the boot log. - Talk to it over CAN. CANopen and the object dictionary.
Documentation¶
| Site | What it covers |
|---|---|
| hardfoc-vortex-v1 | The product: architecture, threads, safety, boot and updates, CANopen, configuration, design notes |
| hf-hal-vortex-v1 | The board: hardware, pin map, managers (motor, encoder, IMU, ADC, LEDs, temperature, NVS, comms), examples |
| hf-tmc9660-driver | The motor controller chip: bootloader, FOC, telemetry |
| hf-as5047u-driver | The encoder |
| hf-core | The shared core the HAL is built on |