Get Started

The SANPO integrated robot controller is designed for robots, robot dogs, and robotic arms. It integrates USB and SPI data inputs, CAN/RS485 motor interfaces, and sensor interfaces.

V4 is now released. Please visit the latest version, which includes matching motor tuning tools, more sample projects, and a more complete protocol framework.

Introduction

• The board integrates 2 STM32F4 modules. Each module controls 2 CAN and 2 RS485 channels, for a total of 4 CAN / 4 RS485.

• USB and SPI are supported as host control inputs, alongside IIC, ADC, and UART sensor expansion.

• 5V/3.3V power outputs are provided for Raspberry Pi, Nvidia Jetson, and similar hosts.

• Compatible with the MIT Cheetash SPINE hardware design standard.

Hardware

USB connection (PC/host)

• With USB as the control input, you can verify motor communication using debugging tools on a PC.

• USB supports both CAN and RS485, suitable for quick validation.

SPI connection (Jetson/Raspberry Pi)

• For SPI control, CS1 maps to STM32F4(1) and CS2 maps to STM32F4(2).

• Refer to the board interface diagram for wiring.

Software

Recommended tools:

• Xiaomi motor tool (USB to CAN): Xiaomi CyberGear Tool. Note: avoid Chinese characters in the install path.

• Unitree motor tool (USB to RS485): Unitree GOM8010 Tool

• SANPO motor tool (multiple motor types): Sanpo Studio Motor Tools

Build Your Program

Protocol definitions and examples:

• USB to CAN

• USB to RS485

• SPI to CAN

• SPI to RS485

Advanced

For custom firmware and protocol development, start from the official firmware:

• Official firmware (for customization): STM32CubeIDE project

• MIT Cheetash SPINE firmware (for study): MBED STUDIO project

For firmware updates, see Firmware Update:

• Connect STLINK to the SWD interface of each STM32F407.

• Flash the latest firmware using STM32CubeProgrammer.

• Each STM32F407 must be flashed separately.