├── 0.AxDr_simulink ├── untitled.m ├── x10_foc_iden_Ls.slx ├── x11_foc_iden_flux.slx ├── x12_foc_iden_Jx.slx ├── x13_foc_pll.slx ├── x14_foc_esmo.slx ├── x15_foc_hsfi.slx ├── x16_foc_nonlinear_flux.slx ├── x17_foc_active_flux_f.slx ├── x18_foc_active_flux_i.slx ├── x19_foc_scvm.slx ├── x1_foc_transform.slx ├── x20_foc_ekf.slx ├── x21_foc_upwind_volt.slx ├── x22_foc_upwind_curr.slx ├── x23_foc_RLS.slx ├── x24_foc_speedloop_fw.slx ├── x25_foc_speedloop_fw_V2.slx ├── x2_foc_svpwm.slx ├── x3_foc_vf.slx ├── x4_foc_voltloop.slx ├── x5_foc_if.slx ├── x6_foc_currentloop.slx ├── x7_foc_speedloop.slx ├── x8_foc_posloop.slx └── x9_foc_iden_Rs.slx ├── 1.AxDr_Drag_VF ├── .mxproject ├── AxDr.ioc ├── Core │ ├── Inc │ │ ├── adc.h │ │ ├── dma.h │ │ ├── fdcan.h │ │ ├── gpio.h │ │ ├── main.h │ │ ├── spi.h │ │ ├── stm32g4xx_hal_conf.h │ │ ├── stm32g4xx_it.h │ │ ├── tim.h │ │ └── usart.h │ └── Src │ │ ├── adc.c │ │ ├── dma.c │ │ ├── fdcan.c │ │ ├── gpio.c │ │ ├── main.c │ │ ├── spi.c │ │ ├── stm32g4xx_hal_msp.c │ │ ├── stm32g4xx_it.c │ │ ├── syscalls.c │ │ ├── sysmem.c │ │ ├── system_stm32g4xx.c │ │ ├── tim.c │ │ └── usart.c ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32G4xx │ │ │ │ ├── Include │ │ │ │ ├── stm32g474xx.h │ │ │ │ ├── stm32g4xx.h │ │ │ │ └── system_stm32g4xx.h │ │ │ │ └── LICENSE.txt │ │ ├── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_armclang_ltm.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv81mml.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm35p.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ │ └── LICENSE.txt │ └── STM32G4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32g4xx_hal.h │ │ ├── stm32g4xx_hal_adc.h │ │ ├── stm32g4xx_hal_adc_ex.h │ │ ├── stm32g4xx_hal_cortex.h │ │ ├── stm32g4xx_hal_def.h │ │ ├── stm32g4xx_hal_dma.h │ │ ├── stm32g4xx_hal_dma_ex.h │ │ ├── stm32g4xx_hal_exti.h │ │ ├── stm32g4xx_hal_fdcan.h │ │ ├── stm32g4xx_hal_flash.h │ │ ├── stm32g4xx_hal_flash_ex.h │ │ ├── stm32g4xx_hal_flash_ramfunc.h │ │ ├── stm32g4xx_hal_gpio.h │ │ ├── stm32g4xx_hal_gpio_ex.h │ │ ├── stm32g4xx_hal_pcd.h │ │ ├── stm32g4xx_hal_pcd_ex.h │ │ ├── stm32g4xx_hal_pwr.h │ │ ├── stm32g4xx_hal_pwr_ex.h │ │ ├── stm32g4xx_hal_rcc.h │ │ ├── stm32g4xx_hal_rcc_ex.h │ │ ├── stm32g4xx_hal_spi.h │ │ ├── stm32g4xx_hal_spi_ex.h │ │ ├── stm32g4xx_hal_tim.h │ │ ├── stm32g4xx_hal_tim_ex.h │ │ ├── stm32g4xx_hal_uart.h │ │ ├── stm32g4xx_hal_uart_ex.h │ │ ├── stm32g4xx_ll_adc.h │ │ ├── stm32g4xx_ll_bus.h │ │ ├── stm32g4xx_ll_cortex.h │ │ ├── stm32g4xx_ll_crs.h │ │ ├── stm32g4xx_ll_dma.h │ │ ├── stm32g4xx_ll_dmamux.h │ │ ├── stm32g4xx_ll_exti.h │ │ ├── stm32g4xx_ll_gpio.h │ │ ├── stm32g4xx_ll_lpuart.h │ │ ├── stm32g4xx_ll_pwr.h │ │ ├── stm32g4xx_ll_rcc.h │ │ ├── stm32g4xx_ll_spi.h │ │ ├── stm32g4xx_ll_system.h │ │ ├── stm32g4xx_ll_tim.h │ │ ├── stm32g4xx_ll_usart.h │ │ ├── stm32g4xx_ll_usb.h │ │ └── stm32g4xx_ll_utils.h │ │ ├── LICENSE.txt │ │ └── Src │ │ ├── stm32g4xx_hal.c │ │ ├── stm32g4xx_hal_adc.c │ │ ├── stm32g4xx_hal_adc_ex.c │ │ ├── stm32g4xx_hal_cortex.c │ │ ├── stm32g4xx_hal_dma.c │ │ ├── stm32g4xx_hal_dma_ex.c │ │ ├── stm32g4xx_hal_exti.c │ │ ├── stm32g4xx_hal_fdcan.c │ │ ├── stm32g4xx_hal_flash.c │ │ ├── stm32g4xx_hal_flash_ex.c │ │ ├── stm32g4xx_hal_flash_ramfunc.c │ │ ├── stm32g4xx_hal_gpio.c │ │ ├── stm32g4xx_hal_pcd.c │ │ ├── stm32g4xx_hal_pcd_ex.c │ │ ├── stm32g4xx_hal_pwr.c │ │ ├── stm32g4xx_hal_pwr_ex.c │ │ ├── stm32g4xx_hal_rcc.c │ │ ├── stm32g4xx_hal_rcc_ex.c │ │ ├── stm32g4xx_hal_spi.c │ │ ├── stm32g4xx_hal_spi_ex.c │ │ ├── stm32g4xx_hal_tim.c │ │ ├── stm32g4xx_hal_tim_ex.c │ │ ├── stm32g4xx_hal_uart.c │ │ ├── stm32g4xx_hal_uart_ex.c │ │ ├── stm32g4xx_ll_adc.c │ │ └── stm32g4xx_ll_usb.c ├── MDK-ARM │ ├── AxDr.uvguix.Administrator │ ├── AxDr.uvguix.disno │ ├── AxDr.uvoptx │ ├── AxDr.uvprojx │ ├── AxDr │ │ ├── AxDr.axf │ │ ├── AxDr.build_log.htm │ │ ├── AxDr.hex │ │ ├── AxDr.htm │ │ ├── AxDr.lnp │ │ ├── AxDr.map │ │ ├── AxDr.sct │ │ ├── AxDr_AxDr.dep │ │ ├── AxDr_sct.Bak │ │ ├── ExtDll.iex │ │ ├── adc.d │ │ ├── adc.o │ │ ├── alob.d │ │ ├── alob.o │ │ ├── anticogging.d │ │ ├── anticogging.o │ │ ├── calibration.d │ │ ├── calibration.o │ │ ├── display.d │ │ ├── display.o │ │ ├── dma.d │ │ ├── dma.o │ │ ├── eh_observer.d │ │ ├── eh_observer.o │ │ ├── encoder.d │ │ ├── encoder.o │ │ ├── fdcan.d │ │ ├── fdcan.o │ │ ├── foc_calc.d │ │ ├── foc_calc.o │ │ ├── foc_ctrl.d │ │ ├── foc_ctrl.o │ │ ├── foc_ctrl_1.d │ │ ├── foc_ctrl_1.o │ │ ├── foc_drv.d │ │ ├── foc_drv.o │ │ ├── gpio.d │ │ ├── gpio.o │ │ ├── hfsi.d │ │ ├── hfsi.o │ │ ├── iden.d │ │ ├── iden.o │ │ ├── idpm.d │ │ ├── idpm.o │ │ ├── ipd_pos.d │ │ ├── ipd_pos.o │ │ ├── lcd.d │ │ ├── lcd.o │ │ ├── main.d │ │ ├── main.o │ │ ├── nlob.d │ │ ├── nlob.o │ │ ├── pid.d │ │ ├── pid.o │ │ ├── pll.d │ │ ├── pll.o │ │ ├── pos_calc.d │ │ ├── pos_calc.o │ │ ├── scvm.d │ │ ├── scvm.o │ │ ├── spi.d │ │ ├── spi.o │ │ ├── startup_stm32g474xx.d │ │ ├── startup_stm32g474xx.o │ │ ├── stm32g4xx_hal.d │ │ ├── stm32g4xx_hal.o │ │ ├── stm32g4xx_hal_adc.d │ │ ├── stm32g4xx_hal_adc.o │ │ ├── stm32g4xx_hal_adc_ex.d │ │ ├── stm32g4xx_hal_adc_ex.o │ │ ├── stm32g4xx_hal_cortex.d │ │ ├── stm32g4xx_hal_cortex.o │ │ ├── stm32g4xx_hal_dma.d │ │ ├── stm32g4xx_hal_dma.o │ │ ├── stm32g4xx_hal_dma_ex.d │ │ ├── stm32g4xx_hal_dma_ex.o │ │ ├── stm32g4xx_hal_exti.d │ │ ├── stm32g4xx_hal_exti.o │ │ ├── stm32g4xx_hal_fdcan.d │ │ ├── stm32g4xx_hal_fdcan.o │ │ ├── stm32g4xx_hal_flash.d │ │ ├── stm32g4xx_hal_flash.o │ │ ├── stm32g4xx_hal_flash_ex.d │ │ ├── stm32g4xx_hal_flash_ex.o │ │ ├── stm32g4xx_hal_flash_ramfunc.d │ │ ├── stm32g4xx_hal_flash_ramfunc.o │ │ ├── stm32g4xx_hal_gpio.d │ │ ├── stm32g4xx_hal_gpio.o │ │ ├── stm32g4xx_hal_msp.d │ │ ├── stm32g4xx_hal_msp.o │ │ ├── stm32g4xx_hal_pcd.d │ │ ├── stm32g4xx_hal_pcd.o │ │ ├── stm32g4xx_hal_pcd_ex.d │ │ ├── stm32g4xx_hal_pcd_ex.o │ │ ├── stm32g4xx_hal_pwr.d │ │ ├── stm32g4xx_hal_pwr.o │ │ ├── stm32g4xx_hal_pwr_ex.d │ │ ├── stm32g4xx_hal_pwr_ex.o │ │ ├── stm32g4xx_hal_rcc.d │ │ ├── stm32g4xx_hal_rcc.o │ │ ├── stm32g4xx_hal_rcc_ex.d │ │ ├── stm32g4xx_hal_rcc_ex.o │ │ ├── stm32g4xx_hal_spi.d │ │ ├── stm32g4xx_hal_spi.o │ │ ├── stm32g4xx_hal_spi_ex.d │ │ ├── stm32g4xx_hal_spi_ex.o │ │ ├── stm32g4xx_hal_tim.d │ │ ├── stm32g4xx_hal_tim.o │ │ ├── stm32g4xx_hal_tim_ex.d │ │ ├── stm32g4xx_hal_tim_ex.o │ │ ├── stm32g4xx_hal_uart.d │ │ ├── stm32g4xx_hal_uart.o │ │ ├── stm32g4xx_hal_uart_ex.d │ │ ├── stm32g4xx_hal_uart_ex.o │ │ ├── stm32g4xx_it.d │ │ ├── stm32g4xx_it.o │ │ ├── stm32g4xx_ll_adc.d │ │ ├── stm32g4xx_ll_adc.o │ │ ├── stm32g4xx_ll_usb.d │ │ ├── stm32g4xx_ll_usb.o │ │ ├── system_stm32g4xx.d │ │ ├── system_stm32g4xx.o │ │ ├── tim.d │ │ ├── tim.o │ │ ├── trap_traj.d │ │ ├── trap_traj.o │ │ ├── usart.d │ │ ├── usart.o │ │ ├── usb_device.d │ │ ├── usb_device.o │ │ ├── usbd_cdc.d │ │ ├── usbd_cdc.o │ │ ├── usbd_cdc_if.d │ │ ├── usbd_cdc_if.o │ │ ├── usbd_conf.d │ │ ├── usbd_conf.o │ │ ├── usbd_core.d │ │ ├── usbd_core.o │ │ ├── usbd_ctlreq.d │ │ ├── usbd_ctlreq.o │ │ ├── usbd_desc.d │ │ ├── usbd_desc.o │ │ ├── usbd_ioreq.d │ │ ├── usbd_ioreq.o │ │ ├── util.d │ │ ├── vofa.d │ │ ├── vofa.o │ │ ├── vofa_1.d │ │ └── vofa_1.o │ ├── DebugConfig │ │ └── AxDr_STM32G474RETx.dbgconf │ ├── EventRecorderStub.scvd │ ├── JLinkLog.txt │ ├── JLinkSettings.ini │ ├── RTE │ │ └── _AxDr │ │ │ └── RTE_Components.h │ ├── startup_stm32g474xx.lst │ ├── startup_stm32g474xx.s │ └── stm32g474xx_flash.sct ├── Middlewares │ └── ST │ │ └── STM32_USB_Device_Library │ │ ├── Class │ │ └── CDC │ │ │ ├── Inc │ │ │ └── usbd_cdc.h │ │ │ └── Src │ │ │ └── usbd_cdc.c │ │ └── Core │ │ ├── Inc │ │ ├── usbd_core.h │ │ ├── usbd_ctlreq.h │ │ ├── usbd_def.h │ │ └── usbd_ioreq.h │ │ └── Src │ │ ├── usbd_core.c │ │ ├── usbd_ctlreq.c │ │ └── usbd_ioreq.c ├── USB_Device │ ├── App │ │ ├── usb_device.c │ │ ├── usb_device.h │ │ ├── usbd_cdc_if.c │ │ ├── usbd_cdc_if.h │ │ ├── usbd_desc.c │ │ └── usbd_desc.h │ └── Target │ │ ├── usbd_conf.c │ │ └── usbd_conf.h └── User │ ├── moldue │ ├── inc │ │ └── modlue.h │ └── vofa.c │ └── motor │ ├── common.h │ ├── foc_calc.c │ ├── foc_ctrl.c │ └── foc_drv.c ├── README.md └── 文档 ├── 1. AxDrive-L 用户手册.md ├── 1. 永磁同步电机.md └── 2. 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