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Oskar Orvik 2026-05-14 20:56:32 +02:00
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Article_Scientifique/PIR_MadMax3.bib
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@ -223,4 +223,15 @@ In order to minimise the torque ripple by control laws, simulation models under
title = {lispBM in VESC},
year = {2024},
howpublished = {\url{https://github.com/vedderb/bldc/tree/master/lispBM}}
}
}
@misc{shamansystems_cheap-focer-2firmware_nodate,
title = {Cheap-{FOCer}-2/firmware at master · shamansystems/{Cheap}-{FOCer}-2},
url = {https://github.com/shamansystems/Cheap-FOCer-2/tree/master/firmware},
abstract = {Low-Cost Motor Controller based on the VESC 6. Contribute to shamansystems/Cheap-FOCer-2 development by creating an account on GitHub.},
language = {en},
urldate = {2026-05-14},
journal = {GitHub},
author = {{shamansystems}},
file = {Snapshot:/home/wario-crocs/Zotero/storage/WFJTZ3V9/firmware.html:text/html},
}

2
Article_Scientifique/logiciel.tex
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@ -6,7 +6,7 @@
VESC-controllers are not necessarily equipped with Bluetooth-modules by default. Often, it is necessary to add a BLE-module. A standard HC-05 bluetooth-module compatible with Arduino is a great way to send and receive bluetooth-packets from a host, e.g. a mobile phone, via a bridge translating the bluetooth packets to the UART protocol. This could be demonstrated using a ESP8622's standard library with said module, by letting us send characters from one device to another.
\subsubsection{HC-05 and the VESC}
By flashing the VESC firmware on a discovery-card and connecting the HC-05 module to the PB10 and PB11-pins, which are the Rx and Tx-pins for the STM32F4xx chip, we discovered that the setup for the bluetooth module was not available in the VESC tool. The inherent BLE capabilities is an important limitation to consider when designing a VESC system. We learned therefore that the HC-05 is not originally adapted for BLE. The need for a bridge also adds on complexity and cost, in the form of extra components and another device to maintain the code of. For the future, choosing a bluetooth module supporting BLE will be the easiest solution. Preferably a module fitting the communication connector on the cheap FOCer project\cite{b1} could facilitate the relevancy of the PCB project with a microcontroller.
By flashing the VESC firmware on a discovery-card and connecting the HC-05 module to the PB10 and PB11-pins, which are the Rx and Tx-pins for the STM32F4xx chip, we discovered that the setup for the bluetooth module was not available in the VESC tool. The inherent BLE capabilities is an important limitation to consider when designing a VESC system. We learned therefore that the HC-05 is not originally adapted for BLE. The need for a bridge also adds on complexity and cost, in the form of extra components and another device to maintain the code of. For the future, choosing a bluetooth module supporting BLE will be the easiest solution. Preferably a module fitting the communication connector on the cheap FOCer project\cite{shamansystems_cheap-focer-2firmware_nodate} could facilitate the relevancy of the PCB project with a microcontroller.
\subsubsection{BLE Vulnerability}
Bluetooth could be a vulnerability to a VESC if it is to be used as a controller in real-time, as the controller could be jammed. Our test with the Flipper Zero shows the disfunctionnality of Bluetooth with different use cases. We experienced with the jamming of a bluetooth speaker that the music completely stopped. It could also be investigated how the connection to the VESC could be modified using the VESC tool. We will touch more on the accessibility of the code within the VESC tool sooner.