GitHub - lalten/vesc-FW: Firmware for the VESC motor controller with modifications for multi-turn position control

We are working on an updated/modified version of original firmware for the VESC (based on FW3.33).

Key functions

#1 Multi-turn posistion control (controlling motor position over multiple encoder turns, for example 0-2160Degress)

#2 Removed shortest route rotation -+180 degress

future work:

#1 Looking on how to implement a cascaded style position, velocity and current control loop. The idea was previously tested on our simulator for cascaded position and speed control (http://grauonline.de/alexwww/motorsim/motorsim.html)

This is the source code for the VESC DC/BLDC/FOC controller. Read more at
http://vesc-project.com/

Name		Name	Last commit message	Last commit date
Latest commit History 274 Commits
ChibiOS_3.0.2		ChibiOS_3.0.2
appconf		appconf
applications		applications
build		build
build_all		build_all
hwconf		hwconf
mcconf		mcconf
nrf		nrf
.gitignore		.gitignore
CHANGELOG		CHANGELOG
CONTRIBUTING		CONTRIBUTING
Makefile		Makefile
README.md		README.md
board.c		board.c
board.h		board.h
buffer.c		buffer.c
buffer.h		buffer.h
chconf.h		chconf.h
comm_can.c		comm_can.c
comm_can.h		comm_can.h
comm_usb.c		comm_usb.c
comm_usb.h		comm_usb.h
comm_usb_serial.c		comm_usb_serial.c
comm_usb_serial.h		comm_usb_serial.h
commands.c		commands.c
commands.h		commands.h
conf_general.c		conf_general.c
conf_general.h		conf_general.h
crc.c		crc.c
crc.h		crc.h
datatypes.h		datatypes.h
digital_filter.c		digital_filter.c
digital_filter.h		digital_filter.h
eeprom.c		eeprom.c
eeprom.h		eeprom.h
encoder.c		encoder.c
encoder.h		encoder.h
flash_helper.c		flash_helper.c
flash_helper.h		flash_helper.h
halconf.h		halconf.h
irq_handlers.c		irq_handlers.c
isr_vector_table.h		isr_vector_table.h
ld_eeprom_emu.ld		ld_eeprom_emu.ld
led_external.c		led_external.c
led_external.h		led_external.h
ledpwm.c		ledpwm.c
ledpwm.h		ledpwm.h
main.c		main.c
mc_interface.c		mc_interface.c
mc_interface.h		mc_interface.h
mcpwm.c		mcpwm.c
mcpwm.h		mcpwm.h
mcpwm_foc.c		mcpwm_foc.c
mcpwm_foc.h		mcpwm_foc.h
mcuconf.h		mcuconf.h
packet.c		packet.c
packet.h		packet.h
servo.c		servo.c
servo.h		servo.h
servo_dec.c		servo_dec.c
servo_dec.h		servo_dec.h
servo_simple.c		servo_simple.c
servo_simple.h		servo_simple.h
stm32-bv_openocd.cfg		stm32-bv_openocd.cfg
stm32f4xx_conf.h		stm32f4xx_conf.h
terminal.c		terminal.c
terminal.h		terminal.h
timeout.c		timeout.c
timeout.h		timeout.h
utils.c		utils.c
utils.h		utils.h
ws2811.c		ws2811.c
ws2811.h		ws2811.h

lalten/vesc-FW

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