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

STM32G474CE 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:

* //set all necessary parameters in configuration structure 
  foc1.config
* //set all remaining parameters in init function 
  Foc_Init()