https://github.com/aotenjo-xyz/master

Aotenjo Master firmware
https://github.com/aotenjo-xyz/master

canbus microcontroller stm32

Last synced: 4 months ago
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Aotenjo Master firmware

• Host: GitHub
• URL: https://github.com/aotenjo-xyz/master
• Owner: aotenjo-xyz
• License: mit
• Created: 2025-03-04T08:09:03.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2026-02-03T18:33:58.000Z (4 months ago)
• Last Synced: 2026-02-04T07:49:47.407Z (4 months ago)
• Topics: canbus, microcontroller, stm32
• Language: C++
• Homepage: https://aotenjo.xyz/docs/category/aotenjo-master
• Size: 11 MB
• Stars: 17
• Watchers: 2
• Forks: 5
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Aotenjo Master

This is Aotenjo Master board firmware repository. It controls the motors with the FDCAN protocol.

[Docs](https://aotenjo.xyz/docs/category/aotenjo-master) | [Shop](https://shop.aotenjo.xyz/products/aotenjo-master-v2-1)



Features

- STM32G431CB (128KB Flash, 32KB RAM, 170MHz)

- FDCAN (CAN with Flexible Data-Rate)

- USB type C

- VCC voltage sensing

![Aotenjo Master Diagram](/.github/images/master-diagram.png)

## Install

Install this repo

```bash

git clone https://github.com/aotenjo-xyz/master.git 

```

## Compatibility

This firmware is compatible with Aotenjo Master v2.0 and later.

> [!WARNING]

> This firmware is not compatible with Aotenjo Master v1.x.

## Usage

### Send target command to the motor

```

MA

```

e.g. Set motor 1 position to 6.28 rad

```

M0A6.28

```

### Get motor position

```

MP

```

e.g. Get motor 1 position

```

M0P

```

### Read VCC voltage

```

VSENSE

```

### Emergency stop

```

ESTOP

```

### Development

Format

```bash

make format

```