Firmware for electronic speed controller (BLDC/PMSM)

Operation modes:

• Field-Oriented control (current control, speed control)
• 6-step sensorless control (zero crossing + bemf integration)
• Motor parameters identification (Rs, Ld, Lq, Hall sensors table, Kv / fluxLinkage)
• Virtual motor model simulation
• Sensored (Hall based software encoder) and sensorless (flux observer) operation
• DC-Motor mode

STM32G474 MCU features:

• Precisely PWM generation using High-resolution timer (HRTIM1)
• Fast trigonometry computation using hardware CORDIC
• Hardware cycle-by-cycle current limiting in BLDC mode using internal comparators
• Accelerating control loop calculation time using CCMRAM

Firmware config:

// connect hardware specific fuctions to library specific functions (main.c)
void Foc_connect_hardware(void)
{
  foc_pwm_init = hrtim_start;
  foc_pwm_off = hrtim_pwm_disable;
  foc_pwm_on = hrtim_pwm_enable;
  foc_pwm_update = hrtim_pwm_update;
  foc_bldcpwm_update = hrtim_bldcpwm_update;
  foc_sincos = cordic_sincos_calc;
  foc_atan2 = cordic_atan2_calc;
}
// set all necessary parameters in configuration structure (main.c) 
  foc1.config
// set all remaining parameters in init function (foc_ctrl.h) 
  Foc_Init()