https://github.com/cybergear-robotics/cybergear

ESP-IDF library for Xiaomi CyberGear motors
https://github.com/cybergear-robotics/cybergear

cybergear esp-idf espidf-component xiaomi xiaomi-cybergear xiaomi-robot

Last synced: 4 months ago
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ESP-IDF library for Xiaomi CyberGear motors

• Host: GitHub
• URL: https://github.com/cybergear-robotics/cybergear
• Owner: cybergear-robotics
• License: mit
• Created: 2025-01-12T13:01:10.000Z (over 1 year ago)
• Default Branch: master
• Last Pushed: 2025-02-14T15:10:32.000Z (over 1 year ago)
• Last Synced: 2025-06-26T07:03:16.004Z (12 months ago)
• Topics: cybergear, esp-idf, espidf-component, xiaomi, xiaomi-cybergear, xiaomi-robot
• Language: C
• Homepage:
• Size: 671 KB
• Stars: 1
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Xiaomi CyberGear Driver

[![Component Registry](https://components.espressif.com/components/cybergear-robotics/cybergear/badge.svg)](https://components.espressif.com/components/cybergear-robotics/cybergear)

[![Examples build](https://github.com/cybergear-robotics/cybergear/actions/workflows/build_example.yml/badge.svg)](https://github.com/cybergear-robotics/cybergear/actions/workflows/build_example.yml)

[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)

[![Maintenance](https://img.shields.io/badge/Maintained%3F-yes-green.svg)](https://GitHub.com/Naereen/StrapDown.js/graphs/commit-activity)

[![Framework](https://img.shields.io/badge/Framework-ESP_IDF-orange.svg)](https://shields.io/)

[![Language](https://img.shields.io/badge/Language-C-purple.svg)](https://shields.io/)

This driver uses Espressif's TWAI (Two-Wire Automotive Interface) in

order to communicate with Xiamoi CyberGear motors. It bases on the library

[Xiaomi_CyberGear_Arduino](https://github.com/DanielKalicki/Xiaomi_CyberGear_Arduino)

and is ported for ESP-IDF.

## Safety

This library does not use error logs/prints, but instead every internal error is

passed through. Therefore each relevant function returns `esp_err_t`, which should

be handled. During development `ESP_ERROR_CHECK(...)` helps, but due to the strength

of these motors, an error should be resolved or the motors should be stopped by an

external emergency mechanism.

Pay attention: The motor provides a list of faults. These are not tested yet and the code is beta.

Following lists the faults and whether a fault was already correctly tested:

* [ ] `overload`

* [ ] `uncalibrated`

* [ ] `over_current_phase_a`

* [ ] `over_current_phase_b`

* [ ] `over_current_phase_c`

* [ ] `over_voltage`

* [ ] `under_voltage`

* [ ] `driver_chip`

* [ ] `over_temperature`

* [ ] `magnetic_code_failure`

* [ ] `hall_coded_faults`

## Using component

```bash

idf.py add-dependency "cybergear-robotics/cybergear"

```

## Example

1. create example project

```bash

idf.py create-project-from-example "cybergear-robotics/cybergear:position_test"

```

2. Go to to example directory (for example `position_test`)

   `cd position_test`

3. Set ESP chip

   `idf.py set-target esp32`

4. Configure CAN TX/RX in menu `CyberGear Example`.

   `idf.py menuconfig`

5. Build, flash

   `idf.py build flash monitor`

## Related projects

* [Xiaomi_CyberGear_Arduino](https://github.com/DanielKalicki/Xiaomi_CyberGear_Arduino)

* [cybergear_m5](https://github.com/project-sternbergia/cybergear_m5)