├── .github └── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md ├── .gitignore ├── FreeMASTER_Prjct ├── BLDC_Ctrl_MBD.pmpx ├── FOC_Cctrl_MBD_Integration.pmpx ├── FOC_Ctrl_MBD.pmpx └── README.md ├── LICENSE ├── MBD_Models ├── BLDC_Ctrl_MBD │ ├── BLDC_Ctrl_MBD.slx │ └── struct_BLDC_Crtl.mat ├── FOC_Ctrl_MBD │ ├── FOC_Config.m │ ├── FOC_Ctrl_CodeModel.slx │ ├── FOC_Ctrl_MBD.slx │ ├── FOC_PIL_Algth_model.slx │ ├── FOC_PIL_Algth_top.slx │ ├── FOC_PIL_StateMch_model.slx │ ├── FOC_PIL_StateMch_top.slx │ ├── FOC_Sub_CoreAlgoithm.slx │ ├── FOC_Sub_StateMch.slx │ └── struct_FOC_Crtl.mat ├── FOC_basic │ ├── FOC_basic.m │ ├── FOC_basic1_OrientedCtrl.slx │ ├── FOC_basic2_VoltageCtrl.slx │ ├── FOC_basic3_CurrentCtrl.slx │ ├── FOC_basic4_CurrentCtrl_SVPWM.slx │ └── FOC_basic5_SpeedCtrl.slx └── README.md ├── README.md ├── Record_Pictures ├── BLDCctrl-FreeMstr-DutyWave.png ├── BLDCctrl-FreeMstr-HallWave.png ├── BLDCctrl-Model-overview.png ├── BLDC速度闭环跟踪.png ├── FOC-Algorithm-Overview.png ├── FOC-PIL-Overview.png ├── Flux无感位置观测.png ├── 三相占空比.png ├── 三相电流-带载.png ├── 三相电流-空载.png ├── 无感启动过程.png └── 无感速度闭环控制.png └── S32DS_Prjct ├── BLDC_Ctrl_MBD_DS ├── .cproject ├── .project ├── .settings │ ├── com.nxp.s32ds.cle.runtime.component.prefs │ ├── com.processorexpert.core.ide.newprojectwizard.prefs │ ├── org.eclipse.cdt.codan.core.prefs │ └── org.eclipse.cdt.core.prefs └── Project_Settings │ ├── Debugger │ └── BLDC_Ctrl_MBD_DS_Debug_FLASH_PNE.launch │ └── Linker_Files │ ├── S32K144_64_flash.ld │ └── S32K144_64_ram.ld ├── FOC_Ctrl_MBD_Integration ├── .cproject ├── .project ├── .settings │ ├── com.freescale.s32ds.cross.sdk.support.prefs │ ├── com.freescale.s32ds.cross.wizard.prefs │ ├── com.nxp.s32ds.cle.ide.sdk.attached.sdks.data.prefs │ ├── com.nxp.s32ds.cle.runtime.component.prefs │ ├── com.processorexpert.core.ide.newprojectwizard.prefs │ ├── org.eclipse.cdt.codan.core.prefs │ └── org.eclipse.cdt.core.prefs ├── Documentation │ ├── FOC_Ctrl_MBD_Integration.txt │ └── FOC_Ctrl_MBD_Integration_Settings.xml ├── Generated_Code │ ├── Cpu.c │ ├── Cpu.h │ ├── adConv1.c │ ├── adConv1.h │ ├── adConv2.c │ ├── adConv2.h │ ├── clockMan1.c │ ├── clockMan1.h │ ├── dmaController1.c │ ├── dmaController1.h │ ├── flexTimer_pwm1.c │ ├── flexTimer_pwm1.h │ ├── lpit1.c │ ├── lpit1.h │ ├── lpspiCom1.c │ ├── lpspiCom1.h │ ├── lpuart1.c │ ├── lpuart1.h │ ├── pdb1.c │ ├── pdb1.h │ ├── pdb2.c │ ├── pdb2.h │ ├── pin_mux.c │ ├── pin_mux.h │ ├── pwrMan1.c │ ├── pwrMan1.h │ ├── trgmux1.c │ └── trgmux1.h ├── ProcessorExpert.pe ├── Project_Settings │ ├── Debugger │ │ ├── FOC_Ctrl_MBD_Integration_Debug_FLASH_PNE.launch │ │ ├── FOC_Ctrl_MBD_Integration_Debug_RAM_PNE.launch │ │ ├── FOC_Ctrl_MBD_Integration_Release_FLASH_PNE.launch │ │ └── FOC_Ctrl_MBD_Integration_Release_RAM_PNE.launch │ ├── Linker_Files │ │ ├── S32K144_64_flash.ld │ │ └── S32K144_64_ram.ld │ └── Startup_Code │ │ └── startup_S32K144.S ├── SDK │ ├── platform │ │ ├── devices │ │ │ ├── S32K144 │ │ │ │ ├── include │ │ │ │ │ ├── S32K144.h │ │ │ │ │ └── S32K144_features.h │ │ │ │ └── startup │ │ │ │ │ ├── system_S32K144.c │ │ │ │ │ └── system_S32K144.h │ │ │ ├── callbacks.h │ │ │ ├── common │ │ │ │ └── s32_core_cm4.h │ │ │ ├── devassert.h │ │ │ ├── device_registers.h │ │ │ ├── startup.c │ │ │ ├── startup.h │ │ │ └── status.h │ │ └── drivers │ │ │ ├── inc │ │ │ ├── adc_driver.h │ │ │ ├── clock.h │ │ │ ├── clock_manager.h │ │ │ ├── edma_driver.h │ │ │ ├── ftm_common.h │ │ │ ├── ftm_pwm_driver.h │ │ │ ├── interrupt_manager.h │ │ │ ├── lpit_driver.h │ │ │ ├── lpspi_master_driver.h │ │ │ ├── lpspi_shared_function.h │ │ │ ├── lpspi_slave_driver.h │ │ │ ├── lpuart_driver.h │ │ │ ├── pdb_driver.h │ │ │ ├── pins_driver.h │ │ │ ├── power_manager.h │ │ │ └── trgmux_driver.h │ │ │ └── src │ │ │ ├── adc │ │ │ ├── adc_driver.c │ │ │ └── adc_hw_access.h │ │ │ ├── clock │ │ │ └── S32K1xx │ │ │ │ ├── clock_S32K1xx.c │ │ │ │ ├── clock_S32K1xx.h │ │ │ │ ├── pcc_hw_access.h │ │ │ │ ├── pmc_hw_access.h │ │ │ │ ├── scg_hw_access.h │ │ │ │ ├── sim_hw_access.h │ │ │ │ └── smc_hw_access.h │ │ │ ├── edma │ │ │ ├── edma_driver.c │ │ │ ├── edma_hw_access.c │ │ │ ├── edma_hw_access.h │ │ │ ├── edma_irq.c │ │ │ └── edma_irq.h │ │ │ ├── ftm │ │ │ ├── ftm_common.c │ │ │ ├── ftm_hw_access.c │ │ │ ├── ftm_hw_access.h │ │ │ └── ftm_pwm_driver.c │ │ │ ├── interrupt │ │ │ └── interrupt_manager.c │ │ │ ├── lpit │ │ │ ├── lpit_driver.c │ │ │ └── lpit_hw_access.h │ │ │ ├── lpspi │ │ │ ├── lpspi_hw_access.c │ │ │ ├── lpspi_hw_access.h │ │ │ ├── lpspi_irq.c │ │ │ ├── lpspi_master_driver.c │ │ │ ├── lpspi_shared_function.c │ │ │ └── lpspi_slave_driver.c │ │ │ ├── lpuart │ │ │ ├── lpuart_driver.c │ │ │ ├── lpuart_hw_access.c │ │ │ ├── lpuart_hw_access.h │ │ │ ├── lpuart_irq.c │ │ │ └── lpuart_irq.h │ │ │ ├── pdb │ │ │ ├── pdb_driver.c │ │ │ ├── pdb_hw_access.c │ │ │ └── pdb_hw_access.h │ │ │ ├── pins │ │ │ ├── pins_driver.c │ │ │ ├── pins_gpio_hw_access.h │ │ │ ├── pins_port_hw_access.c │ │ │ └── pins_port_hw_access.h │ │ │ ├── power │ │ │ ├── S32K1xx │ │ │ │ ├── power_manager_S32K1xx.c │ │ │ │ ├── power_manager_S32K1xx.h │ │ │ │ ├── power_rcm_hw_access.h │ │ │ │ ├── power_scg_hw_access.h │ │ │ │ ├── power_smc_hw_access.c │ │ │ │ └── power_smc_hw_access.h │ │ │ └── power_manager.c │ │ │ └── trgmux │ │ │ ├── trgmux_driver.c │ │ │ ├── trgmux_hw_access.c │ │ │ └── trgmux_hw_access.h │ └── rtos │ │ └── osif │ │ ├── osif.h │ │ └── osif_baremetal.c ├── Sources │ ├── GD3000 │ │ ├── aml │ │ │ ├── common_aml.h │ │ │ ├── gpio_aml.h │ │ │ ├── readme.txt │ │ │ ├── spi_aml │ │ │ │ ├── spi_aml.c │ │ │ │ └── spi_aml.h │ │ │ └── wait_aml │ │ │ │ ├── wait_aml.c │ │ │ │ └── wait_aml.h │ │ ├── gd3000_init.c │ │ ├── gd3000_init.h │ │ └── tpp │ │ │ ├── tpp.c │ │ │ ├── tpp.h │ │ │ └── tpp_mc33937.h │ ├── ISR.c │ ├── MCU_Init.c │ ├── MCU_Init.h │ └── main.c └── include │ └── freemaster_cfg.h └── README.md /.github/ISSUE_TEMPLATE/bug_report.md: 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