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Nova Voyager Open Firmware\n\nOpen-source replacement firmware for the **Teknatool Nova Voyager DVR**\ndrill press HMI controller (GD32F303RCT6, ST7920 16x4 LCD, FreeRTOS).\n\n\u003ctable\u003e\n\u003ctr\u003e\n\u003ctd\u003e\u003cimg src=\"docs/screenshots/lcd_idle.png\" alt=\"Idle screen\" width=\"320\"\u003e\u003c/td\u003e\n\u003ctd\u003e\u003cimg src=\"docs/screenshots/lcd_drilling.png\" alt=\"Drilling at 1487 RPM\" width=\"320\"\u003e\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd align=\"center\"\u003e\u003csub\u003eIdle — target 1500 RPM, load bar empty\u003c/sub\u003e\u003c/td\u003e\n\u003ctd align=\"center\"\u003e\u003csub\u003eDrilling at 1487 RPM, 32% load, 12.4 mm depth\u003c/sub\u003e\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e\u003cimg src=\"docs/screenshots/lcd_tapping.png\" alt=\"Tapping with triggers\" width=\"320\"\u003e\u003c/td\u003e\n\u003ctd\u003e\u003cimg src=\"docs/screenshots/lcd_menu.png\" alt=\"Menu\" width=\"320\"\u003e\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd align=\"center\"\u003e\u003csub\u003eTapping at 580 RPM with Depth+LoadInc+Quill triggers\u003c/sub\u003e\u003c/td\u003e\n\u003ctd align=\"center\"\u003e\u003csub\u003eMenu navigation (wraps at top/bottom)\u003c/sub\u003e\u003c/td\u003e\n\u003c/tr\u003e\n\u003c/table\u003e\n\n\u003e Community-developed firmware based on reverse engineering.\n\u003e Installing this replaces the OEM firmware. Back up your OEM image\n\u003e first — see [`docs/HARDWARE_SETUP.md`](docs/HARDWARE_SETUP.md).\n\n---\n\n## What this adds\n\n- **Tapping** — 6 combinable triggers (depth, load increase, load slip,\n  clutch, quill direction, peck) with GF bit 2 direction-change polling\n- **Foot pedal** — uses the unused X11 connector on the HMI board for\n  hands-free chip-break and reverse override\n- **Load bar** — ST7920 CGRAM bar graph on row 3 (40-step, 16x16 custom chars)\n- **F4 display modes** — load bar / temperature + DC bus voltage / speed info / off\n- **Material speed calculator** — 12 materials, 9 bit types, auto RPM\n- **Configurable motor** — overload threshold (LD), speed ramp (DN),\n  max speed, advanced PID submenu, motor profiles (Soft/Normal/Hard)\n- **OEM-compatible EEPROM** — speed presets and max RPM survive firmware\n  switches; custom settings in 0xB0-0xFF; crash dump persists across power cycles\n- **Step drilling** — automatic RPM adjustment by tool diameter\n- **Favorite speeds** — F1 cycles presets, long-press saves current RPM\n- **Sensor alignment** — ALIGN command tests RPS phases via voltage hold\n- **F0 fault decoding** — motor error screen shows decoded MCB fault code\n- **Settings export** — DUMP (all settings) + EEDUMP (EEPROM hex dump)\n- **Games** — optional Pong, Snake, Penguin in a separate FreeRTOS task\n  (`pio run -e nova_voyager_games`); zero game code in default build\n- **Serial console** — 61 production + 38 debug commands (9600 baud)\n- **USB DFU updates** — with the companion\n  [bootloader](https://github.com/Packerlschupfer/nova-voyager_bootloader),\n  no ST-Link needed for subsequent flashes\n- **Documented MCB protocol** — see [`docs/MOTOR_PROTOCOL.md`](docs/MOTOR_PROTOCOL.md)\n  and [`docs/EEPROM_MAP.md`](docs/EEPROM_MAP.md)\n\n---\n\n## Quick start\n\n```bash\n# Build (production, no games)\npio run -e nova_voyager\n\n# Build with games (Pong, Snake, Penguin)\npio run -e nova_voyager_games\n\n# Flash via ST-Link (fast — assumes flash already unlocked)\n./flash_firmware.sh quick\n\n# First-time install (unlocks flash protection, writes bootloader + app)\n./flash_firmware.sh custom\n\n# Restore OEM firmware\n./flash_firmware.sh original\n```\n\nFor bench setup, wiring, and first-flash instructions see\n[`docs/HARDWARE_SETUP.md`](docs/HARDWARE_SETUP.md).\n\n---\n\n## Hardware\n\n| | |\n|---|---|\n| MCU | GD32F303RCT6 (ARM Cortex-M4F, 120 MHz, 256 KB flash, 48 KB RAM) |\n| Display | ST7920 16x4 character LCD, 8-bit parallel |\n| Motor link | USART3 @ 9600 baud to MCB (Switched Reluctance Motor controller) |\n| Inputs | Rotary encoder + 7 buttons (EXTI), foot pedal |\n| Sensors | Depth (ADC), guard switch, E-Stop |\n| Bootloader | DFU at `0x08000000` (12 KB), application at `0x08003000` (244 KB) |\n\n### Pin map\n\n| Signal | Pin | Notes |\n|--------|-----|-------|\n| LCD data bus | PA0-PA7 | 8-bit parallel |\n| LCD RS / RW / E | PB0 / PB1 / PB2 | Control lines |\n| Encoder A / B / Btn | PC13 / PC14 / PC15 | 4 counts/detent, button = fine/coarse toggle |\n| E-Stop | PC0 | Active high, direct GPIO cutoff path |\n| Guard switch | PC2 | Active high (open = high) |\n| Foot pedal | PC3 | Active low (X11 connector) |\n| Depth ADC | PC1 | ADC1 channel 11 |\n| Motor UART | PB10 / PB11 | TX / RX |\n| Debug UART | PA9 / PA10 | TX / RX, 9600 baud |\n\n---\n\n## LCD layout\n\n```\n1487        1500     \u003c- actual RPM (left), target RPM (right)\n32 DRL ---   FWD     \u003c- load, state, triggers, direction\nT:      D:  12.4     \u003c- target depth, current depth\n[||||||||         ]  \u003c- load bar (F4 cycles: load / temp / speed / off)\n```\n\nState codes: `IDL` idle, `DRL` drilling, `TAP` tapping, `STP` step drill, `MNU` menu.\n\n### F-keys\n\n| Key | Short press | Long press |\n|-----|-------------|------------|\n| F1 | Cycle favorite speeds | Save current RPM to favorites |\n| F2 | Arm / disarm tapping | — |\n| F3 | Set depth target to current depth | — |\n| F4 | Cycle row 3 (load bar / temperature / speed info / off) | — |\n\n---\n\n## Tapping\n\nSix **combinable** triggers. Enable any subset in the menu; arm with F2.\n\n| Code | Trigger | Watches | Use case |\n|:----:|---------|---------|----------|\n| `D` | Depth | Quill depth sensor | Stop / reverse at target depth |\n| `I` | Load Inc | KR (load %) spike | Blind holes, excessive resistance |\n| `S` | Load Slip | CV overshoot | Through-hole exit detection |\n| `C` | Clutch | Load plateau | Torque limiter engaged |\n| `Q` | Quill | Quill direction change | Auto-reverse on quill lift |\n| `K` | Peck | Timed cycles | Chip clearance |\n| `P` | Pedal | Foot pedal | Manual chip-break / hold |\n\nPriority: **Pedal \u003e Quill \u003e Depth \u003e Load \u003e Peck**.\n\n---\n\n## Foot pedal (optional)\n\nThe HMI board exposes PC3 on the **X11** connector. The OEM firmware\ndoesn't use it; this firmware reads it as a foot-pedal input.\n\n| Part | Spec |\n|------|------|\n| Foot switch | TFS-1 momentary SPST, NO contacts |\n| Panel jack | GX12 2-pin, panel-mounted |\n| Internal cable | JST PH 2.54mm 3-pin to X11 |\n\n```\n  foot switch          chassis panel jack          HMI board X11\n   ┌─────┐               ┌─────────┐               ┌──────────┐\n   │TFS-1│──── 2 wire ───┤  GX12   ├──── 2 wire ───┤ PC3 sig  │\n   │ NO  │               │  2-pin  │               │ GND      │\n   └─────┘               └─────────┘               │ N/C      │\n                                                    └──────────┘\n```\n\nActive low, internal pull-up. Disable in `Menu \u003e Tapping \u003e Pedal`\nif wired but not wanted for a session.\n\n---\n\n## Architecture\n\n5 FreeRTOS tasks (+ 1 dynamic game task when games are active):\n\n| Task | Prio | Stack | Rate | Role |\n|------|:---:|:-----:|:---:|------|\n| Main | 1 | 256 W | ~100 Hz | Event queue, console, watchdog |\n| Depth | 2 | 96 W | 50 Hz | ADC quill sensor |\n| UI | 2 | 256 W | 50 Hz | Buttons, encoder, LCD |\n| Tapping | 3 | 160 W | 20 Hz | Trigger state machine |\n| Motor | 4 | 192 W | 2/20 Hz | UART to MCB (adaptive) |\n\nPer-task heartbeat watchdog: the main loop feeds the IWDG only when\nall tasks have checked in and the event queue is draining. HAL tick\nkept in sync via `vApplicationTickHook()` → `HAL_IncTick()`.\n\nMotor stack:\n\n```\ntask_motor.c           FreeRTOS task, command queue, status polling\n  +- motor.c           MCB parameter API (profile, PID, power)\n  +- motor_protocol.c  Packet build / parse\n  +- motor_uart.c      USART3 hardware (DMA RX)\n```\n\n---\n\n## Safety\n\n- **E-Stop** — ISR drives PD4 low (motor enable) before any queued\n  command. Cannot be delayed by a stuck task, full queue, or UART failure.\n- **Guard interlock** — motor refuses to start with guard open;\n  auto-stops and activates spindle hold if guard opens while running.\n- **Queue purge** — E-Stop, guard open, and motor fault purge the motor\n  command queue to prevent stale FORWARD/REVERSE from re-enabling the motor.\n- **Watchdog** — IWDG ~3 s, fed only when all 5 tasks are alive and the\n  event queue is draining. Queue saturation = stall = reset.\n- **EEPROM settings** — when EEPROM is present, no flash writes needed\n  (no 20ms CPU stall, safe to save while motor running).\n- **COMM FAULT** — 15 consecutive UART failures trigger hardware motor\n  disable + fault state with F0 code decoding.\n- **USART overrun handling** — ORE flag cleared on every RX poll to\n  prevent silent data loss during FreeRTOS task switches.\n- **Depth target** — auto-stop and beep when quill reaches target depth\n  or step drill reaches target diameter.\n\n---\n\n## Serial console\n\n9600 baud on PA9/PA10. 61 production commands — start with `HELP`.\n\n| Command | What it does |\n|---------|--------------|\n| `STATUS` | System state, queues, overflow counters |\n| `STACK` | Per-task stack high-water marks |\n| `DEPTH` | Live depth sensor |\n| `GUARD` | Guard / pedal / E-Stop GPIO state |\n| `KR` | Query MCB load percentage |\n| `CV` | Query MCB current speed |\n| `TAP` | Show / configure tapping triggers |\n| `SPEED \u003crpm\u003e` | Set target RPM |\n| `DUMP` | Export all settings as key=value |\n| `EEDUMP` | Hex dump HMI EEPROM (256 bytes) |\n| `ALIGN [A/B/C/OFF]` | Sensor alignment test |\n| `GAME P/S/N` | Pong / Snake / Penguin (games build only) |\n| `DFU` | Reboot into USB DFU bootloader |\n| `SAVE` | Persist settings to EEPROM |\n\n---\n\n## Project status\n\n- All features implemented; firmware in daily use\n- **389 unit tests** across 13 suites (all passing)\n- 0 compiler warnings\n- ~31% flash / ~28% RAM (production); ~34% / ~41% RAM with games\n\n---\n\n## License\n\nGPL-3.0 — see [LICENSE](LICENSE).\n\nCommunity reverse-engineered. No warranty. Use at your own risk.\n\n## Credits\n\nReverse engineering based on independent analysis of the Teknatool\nfirmware (R2P05x, R2P06e, R2P06k), logic-analyzer captures of the MCB\nprotocol, and patient experimentation.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpackerlschupfer%2Fnova-voyager_firmware","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fpackerlschupfer%2Fnova-voyager_firmware","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpackerlschupfer%2Fnova-voyager_firmware/lists"}