├── .github ├── dependabot.yml └── workflows │ ├── ros-humble-ci.yml │ ├── ros-jazzy-ci.yml │ └── ros-rolling-ci.yml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── CHANGELOG.md ├── LICENSE ├── README.md ├── documentation ├── BLMC_µDriver_SPI_interface.md ├── masterboard_communication.md ├── masterboard_ordering_soldering.md ├── masterboard_state_machine.md └── masterboard_wiring.md ├── firmware ├── Makefile ├── README.md ├── components │ ├── direct_ethernet │ │ ├── Kconfig.projbuild │ │ ├── component.mk │ │ ├── direct_ethernet.c │ │ └── direct_ethernet.h │ ├── direct_wifi │ │ ├── Kconfig.projbuild │ │ ├── component.mk │ │ ├── direct_wifi.c │ │ └── direct_wifi.h │ ├── quad_crc │ │ ├── component.mk │ │ ├── quad_crc.c │ │ └── quad_crc.h │ ├── spi_manager │ │ ├── Kconfig.projbuild │ │ ├── component.mk │ │ ├── spi_manager.c │ │ ├── spi_manager.h │ │ ├── spi_quad_packet.c │ │ └── spi_quad_packet.h │ ├── uart_imu │ │ ├── Kconfig.projbuild │ │ ├── component.mk │ │ ├── uart_imu.c │ │ └── uart_imu.h │ └── ws2812b_led │ │ ├── Kconfig.projbuild │ │ ├── LICENSE │ │ ├── README.md │ │ ├── component.mk │ │ ├── ws2812_led_control.c │ │ └── ws2812_led_control.h ├── main │ ├── Kconfig.projbuild │ ├── component.mk │ ├── defines.h │ └── masterboard_main.c ├── sdkconfig ├── sdkconfig.defaults └── setup_esp_idf.bash ├── hardware ├── README.md ├── V1 │ ├── eagle.epf │ ├── esp32_master_board.brd │ ├── esp32_master_board.cam │ ├── esp32_master_board.csv │ ├── esp32_master_board.sch │ ├── fab │ │ └── v01_esp32_master_board_2019-06-06.zip │ └── lib │ │ ├── ESP32.lbr │ │ ├── HR911105A.lbr │ │ ├── MAX15062AATA.lbr │ │ ├── SamacSys_Parts.lbr │ │ ├── TPS560430XDBVR.lbr │ │ ├── con-hirose-df13.lbr │ │ ├── crystals.lbr │ │ ├── m-pad-2.1.lbr │ │ └── microchip-smsc-lan8720.lbr └── V2 │ ├── eagle.epf │ ├── esp32_master_board.brd │ ├── esp32_master_board.cam │ ├── esp32_master_board.csv │ ├── esp32_master_board.pdf │ ├── esp32_master_board.sch │ ├── lib │ ├── ESP32.lbr │ ├── HR911105A.lbr │ ├── HR911105A_bis.lbr │ ├── LIB_LPS4018-333MRC.zip │ ├── LIB_LPS6235-682MRB.zip │ ├── LIB_MAX17502EATB+T.zip │ ├── LPS4018-333MRC.lbr │ ├── LPS6235-153MRB.lbr │ ├── LPS6235-682MRB.lbr │ ├── MAX15062AATA.lbr │ ├── MAX17502EATB+T.lbr │ ├── SamacSys_Parts.lbr │ ├── TPS560430XDBVR.lbr │ ├── WS2812B.lbr │ ├── con-hirose-df13.lbr │ ├── crystals.lbr │ ├── m-pad-2.1.lbr │ ├── microchip-smsc-lan8720.lbr │ └── resistor.lbr │ └── production_files │ ├── esp32_master_board.mnb │ ├── esp32_master_board.mnt │ └── esp32_master_board_2021-09-30.zip ├── images ├── Topology.png ├── master_board.jpg ├── master_board_delivery_1.jpg ├── master_board_delivery_2.jpg ├── master_board_esp32_prog_2.jpg ├── master_board_esp32_prog_wire.jpg ├── master_board_preparation_1.jpg ├── master_board_preparation_2.jpg ├── master_board_preparation_3.jpg ├── master_board_preparation_4.jpg ├── master_board_preparation_5.jpg ├── master_board_preparation_6.jpg ├── master_board_preparation_7.jpg ├── master_board_state_machine.svg ├── master_boards_assembled_1.jpg ├── master_boards_assembled_2.jpg ├── neo_pixel_pinout.jpg ├── rj45_no_gnd.png ├── tek00000.png ├── tek00001.png └── wireIMU.png └── sdk ├── master_board_sdk ├── CMakeLists.txt ├── IMU_vs_ENC.kst ├── Makefile ├── README.md ├── example │ ├── README.md │ ├── com_analyser.py │ ├── example.cpp │ ├── example.py │ ├── example_imu_data_collection.cpp │ ├── example_imu_plotting.py │ ├── example_pd.cpp │ └── listener.py ├── include │ └── master_board_sdk │ │ ├── ESPNOW_manager.h │ │ ├── ESPNOW_types.h │ │ ├── ETHERNET_manager.h │ │ ├── ETHERNET_types.h │ │ ├── Link_manager.h │ │ ├── Link_types.h │ │ ├── defines.h │ │ ├── master_board_interface.h │ │ ├── motor.h │ │ ├── motor_driver.h │ │ └── protocol.h ├── license.txt ├── package.xml ├── src │ ├── ESPNOW_manager.cpp │ ├── ESPNOW_types.cpp │ ├── ETHERNET_types.cpp │ ├── Link_manager.cpp │ ├── master_board_interface.cpp │ ├── motor.cpp │ └── motor_driver.cpp ├── srcpy │ ├── 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