sanporobot
SPINE V8 (Current)
SPINE V6 (Maintenance)
SPINE V4 (Maintenance)
SPINE V3 (Legacy)
Contents
Get Started
On This Page
Product Overview
Separate Motor and Control Power
Board Connectors
Protocols
Debugging Tools
Offline Execution
Firmware Development
USB Example (PC / Host Debugging)
SPI Example (Jetson, Raspberry Pi, and Other Hosts)
Basic Protocols
SocketCAN
RS485 Raw Passthrough
Extended Protocols
SANPO USB to CAN
SANPO USB to RS485
SANPO SPI to CAN
SANPO SPI to RS485
Offline Batch Execution
Before You Start
Create a Batch Quickly
BATADD Fields
Run, Stop, and Query
Read and Delete Saved Batches
Configure Power-On Execution
Upload a Long Command in Chunks
Error Responses
Firmware Update
Choose the Firmware File
Preparation
Update the Factory Firmware with STM32CubeProgrammer
Check the Board After Updating
Troubleshooting
Program a Development or Custom Firmware
Board Schematic and Pinout
Interfaces Controlled by Each STM32
Common Pin Assignment
Internal and External SPI
Important Notes
Developing with the SANPO Firmware
Choose a Development Tool
Functions You Can Add
Customer Code Location
STM32CubeIDE
Keil 5
Programming and Saved Data
Do Not Regenerate Code from an IOC
Acceptance Checks After a Change
Developing Custom Firmware
Choose an Example
The Same Firmware Works on Both MCUs
Keil Environment
CAN Standard-Frame Example
CAN Extended-Frame Example
RS485 Example
Checks After Development
Factory Authentication Recovery
Downloads
1. Prepare the Tools
2. Read and Label the Hardware Information of Both MCUs
3. Check the Recovery Package from Customer Service
4. Restore and Verify STM32(1)
5. Restore and Verify STM32(2)
6. Final Verification
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Index
Index