Hi everyone,
I’m working on reverse engineering the Unitree Go2 / GO-M8018-6 actuator. It looks like a very interesting platform for open-source FOC firmware: compact integrated actuator, good mechanical design, built-in reducer, magnetic encoder, 3-phase inverter, current sensing, RS485, and a Cortex-M0 based CMS32M57xx motor-control MCU.
I’m not using SimpleFOC right now. The current firmware is a low-level bring-up with PWM, ADC current sampling, encoder readout, RS485 telemetry, and early FOC experiments.
Unfortunately, the CMS32 chip does not come with an Arduino core, so porting SimpleFOC directly might be challenging. The Cortex-M0 also does not leave much room for a very generic implementation. Still, the hardware seems like a very good candidate for an open FOC stack on cheap and capable actuator hardware.
The goal is to repurpose these motors outside the Unitree ecosystem: custom protocols, safer timeout behavior, tunable FOC loops, infinite-turn modes, and possibly autonomous motion generated directly inside the actuator.
Here is the repo: GitHub - thomasfla/go2_motor_analysis: This contains analysis of the Unitree motor used in Go2, probably similar to Unitree GO-M8010-6 · GitHub
Any comment and feedback are welcome !