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What is it?It is a 3 phase motor controller. It takes a DC voltage and generates 3 sinewaves for driving a motor, conceptually similar to those small ESC for drones and bikes. The difference is that this particular setup can safely work with a 400V battery, flowing 300Amps all year long.Our work has been focused in the control board, which is capable of driving way more than 400V and way more than 300A, those are defined by the powerstage ratings.We chose EconoDual IGBT modules because its a popular package, they come in many voltage and current levels (from 600V to 1700V, and from 100A to 1000A), from many brands, in both IGBT and SiC technology and with available off the shelf gate drivers matched for them.Why?Because we want to be part of the boldest, most spectacular builds, there is no other open platform capable of driving a 100kW-class motor. All you can get are proprietary controllers with high markups and no way to tweak them to your needs, and most importantly, you don't get to see the inner workings to evaluate if the quality is up to your standards, both in software and hardware.The new wave of EV companies have been tied to proprietary motor drives, we provide our customers with a chance to deeply integrate the motor drive into their systems, offering a unique chance of verticalization within their product. This saves costs and improves the quality and integration of their vehicles.Opening up Axiom also showcases the quality of our work and makes our team a desirable contractor, there are not many people in the world with the set of skills and knowledge to produce a high performance drive unit.Axiom is also made possible thanks to the VESC? base platform growing steadily to the point we can take it for the first time to the next level, from a hobby tool to a full EV-capable piece of technology.Who is using an Axiom?Since we went public this year several individuals and engineering teams around the world signed up for ordering an Axiom. We are currently on a beta testing stage, only picking the most equipped engineering teams capable of providing us with valuable feedback to make sure we deliver a solid product. Well over a hundred direct requests were handled, here are some of the teams with an Axiom controller under test:We are covering 5 continents!Roughly half of the applications are for traction vehicles (cars, bikes, racing), others are for aircraft, and some are pure R&D departments.Contact us if you want to apply to be a beta tester!What can you do with an Axiom?Pretty much anything involving a powerful 3 phase motor.Electric Vehicle conversionsEV racingMiningOEM EV like bikes and ATVSubsea ROVsAircraft systems (*)Glider launchers (*)Wind generatorsR&DDid you imagine this could be used to launch a glider? We neither! That list mostly comes from meetings with our customers.Why do they choose us?Because the performance and the user experience of a VESC? system are simply top notch. The user needs an interface to configure the motor parameters, and it will be the main tool for debugging problems and getting to know the machine. Hats off to Benjamin's VESC Tool:With software and firmware in place, a high power application will need some very particular hardware:Here is our take at this:Mechanically matched to EconoDual/17mm IGBT modules. More compact, fewer assembly steps, less wiring and crimping, no adapter parts.Isolated HVDC and phase voltage monitoring integrated on board, direct connection to the IGBTs for cleaner signals and faster assembly.DC Link Capacitor discharge resistor on board. Safety requirement, discharges it when board is not powered.RF connectors to measure analog signals. This provides simulation-like signal quality, extremely good for development.Individual IGBT fault monitoring. You can tell which IGBT faulted.Individual fault leds for overvoltage, overcurrent and overtemperature.Individual IGBT temperature monitoring.A Lattice iCE40 FPGA, using an open source toolchain for sinthesis and HDL development.The FPGA is continuously monitoring all fault inputs. If any fault is asserted, all PWM activity is shut down.FPGA supervises the PWM generated by the MCU. Shuts down PWM if a shoot-through command is detected.We are implementing this awesome motor control trick in the FPGARJ45 ports. These are not ethernet, they provide a shielded, twisted pair wiring in a standard off the shelf fashion.Dual analog Accelerator inputs.Dual isolated CANbus interfaces (firmware no there yet for the 2nd interface).Resolver support.BiSS absolute encoder support (firmware under dev).Sin/Cos encoder support.Supplies a regulated 15Vdc to the gate drivers, and monitors that voltage.2 DAC outputs with RF connectors to peek inside the control algorithms.2 Open drain outputs for driving small loads or relays, for a pump for example.More fuses, more TVS, more EMI filtering.Here are some high-res images for reference:Poking your critical analog signals with RF connectors should be mandatory in school:An old prototype that can show the isolation cleareances. With newer boards you don't see through the thick soldermaskA sensorless full speed reversal with an IGBT-based powerstage: (yellow trace is the observer phase being output to a DAC channel). You don't get to see this oftenUnless it is an Axiom! Many full speed reversals:This is an exercise on the signal quality of the the board, in practice we strongly suggest to use absolute encoders on high power builds.Crystal clear signals measured right at the ADC pins, and motor angle sent over the DAC to the scope. Note how motor angle is perfectly tracked in the undriven->driven transition.Clear fault reportingSchematic top level:Click on the link for an interactive BOM viewer: http://paltatech.com/files/ibom.htmlMore data, board datasheet and images are be available at www.powerdesigns.ca, as well as schematic and other design files. The build in the pictures is designed for 400V 300Amp continuous operation.How it works?It takes your battery voltage (High Voltage DC) and using PWM creates 3 sinewaves spread 120° for driving a motor. Actually, it uses Space Vector Modulation (SVM), which reduces the amount of switching required, and hence the switching losses.Despite VESC supports driving motors in both trapezoidal and Field Oriented Control control modes, our boards only work in FOC. Its just better suited for the application.FOC is about aligning your sinewaves with the actual field inside the motor, and controlling the machine with a vector signal composed on a torque-generating current in quadrature with the flux (Iq), and a flux-generating current (Id). There are lots of good resources about this topic, and you can see the actual lines of code performing the transformations here.See the logs for more details!The BIGGEST news about this project is the formal presentation of the team that made it possible. Forum legends HighHopes and Arlo1 are deeply involved in the design, we have been working together on getting this control board out, and we founded www.powerdesigns.ca to centralize all the contract work we have been doing together.So what does this means? Arlo1 provides the field experience with his awesome, record-setting builds and tooling while HighHopes provides deep insight, his power systems knowledge and hard math to every design decision, while Maxi and I do what we do best, engineering, CAD, firmware and manufacturing. And remember this is standing on years of Benjamin Vedder's firmware development, to which we are already collaborators.PowerDesigns should provide the assembled boards to anyone interested. We can offer bare PCBs on demand but the risk is so high and I didn't see a successful build when people have to assemble the boards, so its better if we take care of the assembly. Its even much better if we provide the complete motor controller, we are working on providing that solution.Maxi (co-founder engineer at paltatech) and me switched gears some months ago to firmware developing and testing when the hardware design was settled, meanwhile some alpha users start putting some miles on this, not many miles actually, we are still craving for testers and we don't claim it comes without bugs. All the code we provide for these high power applications is carefully crafted for direct integration into the VESC codebase so it stays public and well maintained.Hardware-wise, we have math for finely setting our trip points, which we can easy tune at will by changing resistors, and the FPGA is a very powerful addition for co-processing and safety functions. We went as far as designing our own DC Link with an OEM, shown in the pictures and still under testing.Its quite a compact and tidy unit.This is an awesome platform for research and for high power builds, I don't know of any controller at this power level, with this quality and attention to detail while open to the user to modify the firmware at will.We have been going on for a long way without external feedback, so I'm eager to hear what you guys think. Axiom is not meant to be a cheap controller, its meant to drive very expensive and dangerous equipment, so it must be a safe and solid piece of hardware.(*) Axiom has not yet been qualified for aircraft/aerospace applications.

In this tutorial we will see how to make a tracker to GPS tracker, with LORA and Arduino module. We will also see a basic webserver with ESP32, where you can open a URL on google maps, with real-time latitude and longitude data.Electronic componentsTwo 1 Kohm resistorsTwo LED diodesArduino nanoThe Arduino Nano is a small board, complete and compatible with the test board based on the ATmega328 (Arduino Nano 3.x). It has about the same functionality as the Arduino Duemilanove, but in a different package. It only lacks a DC power connector and works with a Mini-B USB cable instead of a standard one.Female pinsGT-7U GPS moduleNote that when the GPS module works, the green indicator on the GPS module will flash (red is for power indication), and relative figures, time(UTC), latitude, longitude, and more. If we establish a connection between the GPS module, and a serial terminal program in our pc we will obtain data. It is important to try to be in a clear area to capture satellite signals, at least 3 satellites, to obtain latitude and longitude data, but the more satellites we get the better the navigation and accuracy experience.Product descriptionItem Description: Features:GT-U7 module. High sensitivity module, low static deviation, low power consumption and low volume.Miniaturization: Thanks to the extremely high tracking sensitivity, the position of the cover has been considerably improved.– High precision: In a narrow urban sky, in dense jungle environments, the GT-U7 can be positioned with great precision.Easy to use: with IPEX antenna interface you can place the standard distribution of the active antenna quickly. Rechargeable button battery table. Onboard E2PROM enables the storage of parameter data.-Compatible with: The output format is compatible with NEO-6M.– Scope of application: vehicles, mobile devices such as PDA, vehicle surveillance, mobile phones, camcorders and other mobile location systems, bicycle sharing, common mobile power supply.Package contents:1 GT-U7 GPS module.1 active antenna with IPEX interface.Specification:With IPEX antenna interface, the default distribution of theactive antenna, you can quickly place Operating voltage: 3.6V-5V (or direct USB power supply)Baud transmission rate: 9600 (can be modified)Rechargeable button battery on boardOnboard E2PROMMemory NeMA output format of parameter data supportsNEO-6M Size: 27.6mm*26.6mm can be inserted or selected a patch (with positioning holes)Application areas: Portable vehicle-mounted devices suchas PDAVehicle Monitoring Mobile phones, camcorders and other mobile positioning systemsPinoutPPS: Pulse per secondTXD: Data transmission pinRXD: Data transmission pinGND: EarthVCC: Power voltage 3.6 to 5.5 voltsOverview TheGT-U7 series of modules is a family of high performance autonomous GPS receivers with u-blox 6 positioning motor. These flexible and cost-effective receivers offer numerous connectivity options in a 16 x 12.2 x 2.4 mm miniature package. Its compact architecture and power and memory options make GT-U7 modules ideal for mobiledevices that run on battery-powered batteries with very strict cost and space constraints. The u-blox 6 50-channel positioningengine features Time-To-First-Fix (TTFF) of less than 1 second. The dedicated acquisition engine, with 2 million correlators, is capable of performing massive time/frequency space searches in parallel, allowing you tofind satellites instantly. Innovative design and technology suppress interference sources and mitigate multipath effects, giving GT-U7 GPS receivers excellent navigationperformance even in most challenging environments.Assisted GPS (A-GPS)Providing help information such as ephemeris, almanaque,last approximate position and hour and satellite status and an optional time sync signal will significantly reduce the time to fix for the first time and improve acquisition sensitivity. All GT-U7 modules are compatible with u-blox AssistNow Online and AssistNow Offline A-GPS11 services and are compatible with OMA SUPL.AssistNow AutonomousAssistNow Autonomous provides functionality similar to assisted GPS without the need for an external network host or connection. Based on satellite ephemeris data previously downloaded and stored by the GPS receiver, AssistNow Autonomous automatically generates accurate satellite orbital data (?AssistNow autonomous data?) that can be used for future GPS positions. AssistNow Autonomous data is reliable up to 3 days after initial capture.Protocols and interfacesProtocol typeINPUT/Output NMEA, ASCII, 0183, 2.3 (compatible with 3.0) UBX input/output, binary, u-blox patented RTCM input, 2.3UARTGT-U7 modules include a configurable UART interface for serial communication.USBGT-U7 modules provide a USB version 2.0 FS interface (full speed, 12 Mbit/s) as an alternative to the UART. Pull-up resistance in USB_DP integrated to signal a full-speed device to the host. The VDDUSB pin supplies the USB interface. u-blox provides a Microsoft-certified USB driver? for Windows XP, Windows Vista, and Windows 7 operating systems.Serial Peripheral Interface (SPI) TheSPI interface allows the connection of external devices with a serial interface, p. E.g. flash serial to save AssistNow Offline A-GPS settings and data or to connect to a host CPU. The interface can be operated in master or slave mode. In master mode, a chip selection signal is available for selecting external slaves. In slave mode, a single chip selection signal allows communication with the host.Power managementU-blox receivers support different power modes. These modes represent strategies of how to control acquisition and tracking engines in order to achieve the best possible performance or good performance with reduced power consumption.Maximum performance mode Duringa cold start, a receiver in maximum performance mode continuously deploys the acquisition engine to search for all satellites. Once the receiver has a fixed position (or if pre-positioning information is available), the acquisition engine is still used to search for all visible satellites that are not being tracked.Eco-modeDuring a cold start, a receiver in Eco mode works exactly as in maximum performance mode. Once a position can be calculated and a sufficient number of satellites are being tracked, the acquisition engine shuts down, resulting in significant energy savings. The tracking engine continuously tracks purchased satellites and acquires other available or emerging satellites.Power-saving modePower saving mode (PSM) allows a reduction in system power consumption by turning receiver parts on and off.Lora ModuleAbout Lora ModulesThe LoRa radio module is a type of low-speed long-range data radio modem based on Semtech’s Sx1276. It is a low cost transceiver module of less than 1 GHz designed for operations in the ISM (Industrial Scientific Medical) and LPRD bands without license. Frequency spectrum modulation/demodulation, multichannel operation, high bandwidth efficiency and anti-lock performance make LoRa modules easy to perform thanks to robust and reliable wireless linking.The module can operate in two different modes: standard mode and Star network mode. In standard mode, it acts as a transparent data radio modem that communicates with the host in the preset data format without the need for encoding/decoding. In startup network mode, a module will be configured for the central node and other modules will be configured as node modules. Communication between the central module and the node module is bidirectional, but node modules cannot communicate with each other. Note that the module does not contain the lorawan protocol. Therefore, the star network function of this module is used with the protocol itself, so it is not compatible with lorawan.FeaturesLoRa Frequency SpectrumFrequency band 433 / 490Mhz ISM-137 dBm receive sensitivity20 dBm max. output powerSerial activation portWireless alarm clockStar network capacitySupply voltage 3.4 x 5.5VSpecificationOperating Voltage: 2.1 x 3.6V (Battery Powered) or 4.5×5.5VWorking frequency band: 433 MHzModulation: LoRa extended spectrumOutput power: ≤ 20dBmReception sensitivity: -148dBmEmission current: ≤120mAReceiving current: ≤15.2mASleep current: ≤ 3.9uASleep time: optional 2S, 4S, 6S, 8S, 10SBreathing time: optional 2ms, 4ms, 8ms, 16ms, 32ms, 64msTime to wake up: wake up immediatelyCommunication interface: TTL serial communicationSerial transmission speed: 1200 x 57600,9600bps (default)Serial port verification: 8E1.8O1.8N1 (optional)Operating temperature: -40oC – + 80oCProduct size: 34.2 * 18.4mm / 1.35 * 0.72 inchData SheetsDRF1276DMDRF1278DMPIN OUTConnection Module with Serial USB adapterSETTINGSFor some applications, default parameters may not be the bestoption, so users may need to change the parameters There are two ways to adjust them: by MCU or by PC. Inconfiguration mode, the EN pin must be connected toGND and then the configuration tool or commands can work effectivelyBy PC: DORJI offers a PC-based configuration toolthat can be used to change parameters through the graphical interface. Users can insert the DRF1278DM module intoserial usb adapter, and connect them to the computer and run the configuration tool.DRF TOOLThis tool allows us to configure the LoRa MODULES DRF1278DM and DRF1276DMDownload—>DRFTOOLProgram descriptionUART -> Values are set to 9.6k bps and no parity checkRF frequency–> Indicates the central frequency of the RF carrierRF Mode–> Standard Mode, Center Mode and Node ModeRF_Factor–> Lora Scatter Factor. A higher value meanshigher sensitivity but longer air transmission time. Only users can change it in standard modeRF_BW–> Lora bandwidth. Higher value means less sensitivity. Recommended value: 125K. Only users can change it in standard mode.Node ID–> Used only for node-mode modules: 0x65535Net ID–> Only modules with the same network ID (0 x255) can communicate with each other. You can avoid module interferencePower–> Used to configure the output power of the DRF1278D. There are 7 power levels. The 7 means the maximum. output power: 20dBm and 0 means the lowest output powerBreath–> The activation period for the module in node mode. Only available for firmware 2.0 or higherWake timer–> Time to detect wireless signal during break period, is only available forfirmware 2.7 or higherSerial transmission rate–> Sets the data rate between DRF1278DM and the host (pc or microcontroller)Serial Parity–> Defines the parity check between DRF1278DM and the host (pc or microcontroller)STANDARD MODE Standardmode is also called transparent mode inwhich the module receives or sends data to the host over the serial port (UART) in the preset data format and users do not need to worry about the data processing within the module. The DRF1278DM AUXpin will give indication about the IN/OUT data of the serial port 2 ms in advance, which can be used to wake up the host. In this mode, the EN pin must be set tolow logic in case the module enters deep sleep.In STANDARD or transparent mode, nodes can work with a point-to-point (P2P) connection the main feature in this way is that no intermediary device is required to manage communication, devices can send information directly between them, this is perfect for simple communications such as turning on a light.The other way is with a star network type where we find a central node that manages the network, its disadvantage is that it is limited to 255 255-node networks* and that the coordinator node can only listen to one node at a time.STAR NETWORK MODE Inthis mode, a DRF1278DM module needs to establish a module as a central moduleand other modules must be node modules for star networks. For the central module, it worksat full performance so its power consumption isthe same as in standard mode and the EN pin must be connected to the low logic. The logical level of theSET pin for the central module must be the same as the node module.Printed circuitDownload the gerber file in –> Gerber_GPS_TRACKER_LORA_ARDUINOMale pins30-pin socket for Arduino Cicuito web server