SANPO SPINE V4 User Guide

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