packerlschupfer/nova-voyager_firmware：Teknatool Nova Voyager DVR 钻床

项目介绍

packerlschupfer/nova-voyager_firmware 是一个托管在 GitHub 上的开源项目，主要使用 C 编写，采用 GNU General Public License v3.0 许可证，目前获得 4 个 Star、1 次 Fork。

仓库全名: packerlschupfer/nova-voyager_firmware

README 摘要

Nova Voyager Open Firmware Open-source replacement firmware for the Teknatool Nova Voyager DVR drill press HMI controller (GD32F303RCT6, ST7920 16x4 LCD, FreeRTOS). Idle — target 1500 RPM, load bar empty Drilling at 1487 RPM, 32% load, 12.4 mm depth Tapping at 580 RPM with Depth+LoadInc+Quill triggers Menu navigation (wraps at top/bottom) Community-developed firmware based on reverse engineering. Installing this…

完整内容见 GitHub 原始 README 或本页。

常见问题

nova-voyager_firmware 用什么语言开发？

主要使用 C 编写，采用 GNU General Public License v3.0 许可证，目前有 4 个 Star。

nova-voyager_firmware 可以免费商用吗？

仓库标注的许可证为 GNU General Public License v3.0，商用前请先阅读仓库 LICENSE 文件确认授权范围。

如何获取 nova-voyager_firmware 的源码？

可以直接克隆仓库：git clone https://github.com/packerlschupfer/nova-voyager_firmware.git，默认分支为 main；安装与运行步骤见仓库 README。

nova-voyager_firmware 最近还在维护吗？

仓库最近一次更新为 1 周前，当前没有未关闭的 Issue；Star 数为 4，可作为社区活跃度的参考。

关于

GitHub 原始描述（英文）

Open-source replacement firmware for the Teknatool Nova Voyager DVR drill press HMI (GD32F303RC, FreeRTOS, ST7920 LCD). Reverse-engineered MCB protocol, combinable tapping triggers, hardware E-Stop.

arm-cortex-m4 drill-press dvr embedded firmware freertos gd32 gd32f303 hmi nova-voyager open-source-hardware platformio reverse-engineering st7920 teknatool woodworking

GNU General Public License v3.0
4 Stars
1 Forks
1 Watching

描述取自 GitHub 官方 API，保持仓库作者书写的原文。

简要分析

热度分

价值分

活跃状态

活跃

GitHub

语言占比

Assembly

Linker Script

Python

Shell

Nova Voyager Open Firmware

Open-source replacement firmware for the Teknatool Nova Voyager DVR drill press HMI controller (GD32F303RCT6, ST7920 16x4 LCD, FreeRTOS).


_{Idle — target 1500 RPM, load bar empty}	_{Drilling at 1487 RPM, 32% load, 12.4 mm depth}

_{Tapping at 580 RPM with Depth+LoadInc+Quill triggers}	_{Menu navigation (wraps at top/bottom)}

Community-developed firmware based on reverse engineering. Installing this replaces the OEM firmware. Back up your OEM image first — see docs/HARDWARE_SETUP.md.

What this adds

Tapping — 6 combinable triggers (depth, load increase, load slip, clutch, quill direction, peck) with GF bit 2 direction-change polling
Foot pedal — uses the unused X11 connector on the HMI board for hands-free chip-break and reverse override
Load bar — ST7920 CGRAM bar graph on row 3 (40-step, 16x16 custom chars)
F4 display modes — load bar / temperature + DC bus voltage / speed info / off
Material speed calculator — 12 materials, 9 bit types, auto RPM
Configurable motor — overload threshold (LD), speed ramp (DN), max speed, advanced PID submenu, motor profiles (Soft/Normal/Hard)
OEM-compatible EEPROM — speed presets and max RPM survive firmware switches; custom settings in 0xB0-0xFF; crash dump persists across power cycles
Step drilling — automatic RPM adjustment by tool diameter
Favorite speeds — F1 cycles presets, long-press saves current RPM
Sensor alignment — ALIGN command tests RPS phases via voltage hold
F0 fault decoding — motor error screen shows decoded MCB fault code
Settings export — DUMP (all settings) + EEDUMP (EEPROM hex dump)
Games — optional Pong, Snake, Penguin in a separate FreeRTOS task (pio run -e nova_voyager_games); zero game code in default build
Serial console — 61 production + 38 debug commands (9600 baud)
USB DFU updates — with the companion bootloader, no ST-Link needed for subsequent flashes
Documented MCB protocol — see docs/MOTOR_PROTOCOL.md and docs/EEPROM_MAP.md

Quick start

# Build (production, no games)
pio run -e nova_voyager

# Build with games (Pong, Snake, Penguin)
pio run -e nova_voyager_games

# Flash via ST-Link (fast — assumes flash already unlocked)
./flash_firmware.sh quick

# First-time install (unlocks flash protection, writes bootloader + app)
./flash_firmware.sh custom

# Restore OEM firmware
./flash_firmware.sh original

For bench setup, wiring, and first-flash instructions see docs/HARDWARE_SETUP.md.

Hardware


MCU	GD32F303RCT6 (ARM Cortex-M4F, 120 MHz, 256 KB flash, 48 KB RAM)
Display	ST7920 16x4 character LCD, 8-bit parallel
Motor link	USART3 @ 9600 baud to MCB (Switched Reluctance Motor controller)
Inputs	Rotary encoder + 7 buttons (EXTI), foot pedal
Sensors	Depth (ADC), guard switch, E-Stop
Bootloader	DFU at `0x08000000` (12 KB), application at `0x08003000` (244 KB)

Pin map

Signal	Pin	Notes
LCD data bus	PA0-PA7	8-bit parallel
LCD RS / RW / E	PB0 / PB1 / PB2	Control lines
Encoder A / B / Btn	PC13 / PC14 / PC15	4 counts/detent, button = fine/coarse toggle
E-Stop	PC0	Active high, direct GPIO cutoff path
Guard switch	PC2	Active high (open = high)
Foot pedal	PC3	Active low (X11 connector)
Depth ADC	PC1	ADC1 channel 11
Motor UART	PB10 / PB11	TX / RX
Debug UART	PA9 / PA10	TX / RX, 9600 baud

LCD layout

1487        1500     <- actual RPM (left), target RPM (right)
32 DRL ---   FWD     <- load, state, triggers, direction
T:      D:  12.4     <- target depth, current depth
[||||||||         ]  <- load bar (F4 cycles: load / temp / speed / off)

State codes: IDL idle, DRL drilling, TAP tapping, STP step drill, MNU menu.

F-keys

Key	Short press	Long press
F1	Cycle favorite speeds	Save current RPM to favorites
F2	Arm / disarm tapping	—
F3	Set depth target to current depth	—
F4	Cycle row 3 (load bar / temperature / speed info / off)	—

Tapping

Six combinable triggers. Enable any subset in the menu; arm with F2.

Code	Trigger	Watches	Use case
`D`	Depth	Quill depth sensor	Stop / reverse at target depth
`I`	Load Inc	KR (load %) spike	Blind holes, excessive resistance
`S`	Load Slip	CV overshoot	Through-hole exit detection
`C`	Clutch	Load plateau	Torque limiter engaged
`Q`	Quill	Quill direction change	Auto-reverse on quill lift
`K`	Peck	Timed cycles	Chip clearance
`P`	Pedal	Foot pedal	Manual chip-break / hold

Priority: Pedal > Quill > Depth > Load > Peck.

Foot pedal (optional)

The HMI board exposes PC3 on the X11 connector. The OEM firmware doesn’t use it; this firmware reads it as a foot-pedal input.

Part	Spec
Foot switch	TFS-1 momentary SPST, NO contacts
Panel jack	GX12 2-pin, panel-mounted
Internal cable	JST PH 2.54mm 3-pin to X11

  foot switch          chassis panel jack          HMI board X11
   ┌─────┐               ┌─────────┐               ┌──────────┐
   │TFS-1│──── 2 wire ───┤  GX12   ├──── 2 wire ───┤ PC3 sig  │
   │ NO  │               │  2-pin  │               │ GND      │
   └─────┘               └─────────┘               │ N/C      │
                                                    └──────────┘

Active low, internal pull-up. Disable in Menu > Tapping > Pedal if wired but not wanted for a session.

Architecture

5 FreeRTOS tasks (+ 1 dynamic game task when games are active):

Task	Prio	Stack	Rate	Role
Main	1	256 W	~100 Hz	Event queue, console, watchdog
Depth	2	96 W	50 Hz	ADC quill sensor
UI	2	256 W	50 Hz	Buttons, encoder, LCD
Tapping	3	160 W	20 Hz	Trigger state machine
Motor	4	192 W	2/20 Hz	UART to MCB (adaptive)

Per-task heartbeat watchdog: the main loop feeds the IWDG only when all tasks have checked in and the event queue is draining. HAL tick kept in sync via vApplicationTickHook() → HAL_IncTick().

Motor stack:

task_motor.c           FreeRTOS task, command queue, status polling
  +- motor.c           MCB parameter API (profile, PID, power)
  +- motor_protocol.c  Packet build / parse
  +- motor_uart.c      USART3 hardware (DMA RX)

Safety

E-Stop — ISR drives PD4 low (motor enable) before any queued command. Cannot be delayed by a stuck task, full queue, or UART failure.
Guard interlock — motor refuses to start with guard open; auto-stops and activates spindle hold if guard opens while running.
Queue purge — E-Stop, guard open, and motor fault purge the motor command queue to prevent stale FORWARD/REVERSE from re-enabling the motor.
Watchdog — IWDG ~3 s, fed only when all 5 tasks are alive and the event queue is draining. Queue saturation = stall = reset.
EEPROM settings — when EEPROM is present, no flash writes needed (no 20ms CPU stall, safe to save while motor running).
COMM FAULT — 15 consecutive UART failures trigger hardware motor disable + fault state with F0 code decoding.
USART overrun handling — ORE flag cleared on every RX poll to prevent silent data loss during FreeRTOS task switches.
Depth target — auto-stop and beep when quill reaches target depth or step drill reaches target diameter.

Serial console

9600 baud on PA9/PA10. 61 production commands — start with HELP.

Command	What it does
`STATUS`	System state, queues, overflow counters
`STACK`	Per-task stack high-water marks
`DEPTH`	Live depth sensor
`GUARD`	Guard / pedal / E-Stop GPIO state
`KR`	Query MCB load percentage
`CV`	Query MCB current speed
`TAP`	Show / configure tapping triggers
`SPEED <rpm>`	Set target RPM
`DUMP`	Export all settings as key=value
`EEDUMP`	Hex dump HMI EEPROM (256 bytes)
`ALIGN [A/B/C/OFF]`	Sensor alignment test
`GAME P/S/N`	Pong / Snake / Penguin (games build only)
`DFU`	Reboot into USB DFU bootloader
`SAVE`	Persist settings to EEPROM

Project status

All features implemented; firmware in daily use
389 unit tests across 13 suites (all passing)
0 compiler warnings
~31% flash / ~28% RAM (production); ~34% / ~41% RAM with games

License

GPL-3.0 — see LICENSE.

Community reverse-engineered. No warranty. Use at your own risk.

Credits

Reverse engineering based on independent analysis of the Teknatool firmware (R2P05x, R2P06e, R2P06k), logic-analyzer captures of the MCB protocol, and patient experimentation.

暂无评论

nova-voyager_firmware