├── CMSIS_5 └── CMSIS │ └── Core │ └── Include │ ├── cachel1_armv7.h │ ├── 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_cm55.h │ ├── core_cm7.h │ ├── core_sc000.h │ ├── core_sc300.h │ ├── mpu_armv7.h │ ├── mpu_armv8.h │ ├── pmu_armv8.h │ └── tz_context.h ├── G431CBU6-DESKTOP-JRVN27D-2.emSession ├── G431CBU6-DESKTOP-JRVN27D.emSession ├── G431CBU6-esc_Debug.jlink ├── G431CBU6-esc_Release.jlink ├── G431CBU6.emProject ├── G431CBU6.emSession ├── G431CBU6_Debug.jlink ├── LICENSE ├── Output ├── Debug │ ├── Exe │ │ ├── G431CBU6-esc.elf │ │ ├── G431CBU6-esc.ind │ │ ├── G431CBU6-esc.map │ │ ├── G431CBU6.elf │ │ └── G431CBU6.map │ └── Obj │ │ ├── G431CBU6-esc │ │ ├── G431CBU6-esc.ind │ │ ├── SEGGER_RTT-DESKTOP-3Q4TMB3.o │ │ ├── SEGGER_RTT.d │ │ ├── SEGGER_RTT.o │ │ ├── SEGGER_RTT_ASM_ARMv7M.d │ │ ├── SEGGER_RTT_ASM_ARMv7M.o │ │ ├── SEGGER_RTT_printf-DESKTOP-3Q4TMB3.o │ │ ├── SEGGER_RTT_printf.d │ │ ├── SEGGER_RTT_printf.o │ │ ├── SEGGER_THUMB_Startup.d │ │ ├── SEGGER_THUMB_Startup.o │ │ ├── STM32G4xx_Startup.d │ │ ├── STM32G4xx_Startup.o │ │ ├── clarke.d │ │ ├── clarke.o │ │ ├── clarke_PP.c │ │ ├── foc.d │ │ ├── foc.o │ │ ├── main-DESKTOP-3Q4TMB3.o │ │ ├── main.d │ │ ├── main.o │ │ ├── pi-DESKTOP-3Q4TMB3.o │ │ ├── pi.d │ │ ├── pi.o │ │ ├── stm32g431xx_Vectors.d │ │ ├── stm32g431xx_Vectors.o │ │ ├── stm32g4xx_it-DESKTOP-3Q4TMB3.o │ │ ├── stm32g4xx_it.d │ │ ├── stm32g4xx_it.o │ │ ├── stm32g4xx_ll_adc-DESKTOP-3Q4TMB3.o │ │ ├── stm32g4xx_ll_adc.d │ │ ├── stm32g4xx_ll_adc.o │ │ ├── stm32g4xx_ll_cordic-DESKTOP-3Q4TMB3.o │ │ ├── stm32g4xx_ll_cordic.d │ │ ├── stm32g4xx_ll_cordic.o │ │ ├── stm32g4xx_ll_dma-DESKTOP-3Q4TMB3.o │ │ ├── stm32g4xx_ll_dma.d │ │ ├── stm32g4xx_ll_dma.o │ │ ├── stm32g4xx_ll_exti-DESKTOP-3Q4TMB3.o │ │ ├── stm32g4xx_ll_exti.d │ │ ├── stm32g4xx_ll_exti.o │ │ ├── stm32g4xx_ll_gpio-DESKTOP-3Q4TMB3.o │ │ ├── stm32g4xx_ll_gpio.d │ │ ├── stm32g4xx_ll_gpio.o │ │ ├── stm32g4xx_ll_opamp-DESKTOP-3Q4TMB3.o │ │ ├── stm32g4xx_ll_opamp.d │ │ ├── stm32g4xx_ll_opamp.o │ │ ├── stm32g4xx_ll_pwr-DESKTOP-3Q4TMB3.o │ │ ├── stm32g4xx_ll_pwr.d │ │ ├── stm32g4xx_ll_pwr.o │ │ ├── stm32g4xx_ll_tim-DESKTOP-3Q4TMB3.o │ │ ├── stm32g4xx_ll_tim.d │ │ ├── stm32g4xx_ll_tim.o │ │ ├── stm32g4xx_ll_utils-DESKTOP-3Q4TMB3.o │ │ ├── stm32g4xx_ll_utils.d │ │ ├── stm32g4xx_ll_utils.o │ │ ├── svgen-DESKTOP-3Q4TMB3.o │ │ ├── svgen.d │ │ ├── svgen.o │ │ ├── system_stm32g4xx-DESKTOP-3Q4TMB3.o │ │ ├── system_stm32g4xx.d │ │ ├── system_stm32g4xx.o │ │ ├── utils-DESKTOP-3Q4TMB3.o │ │ ├── utils.d │ │ └── utils.o │ │ └── G431CBU6 │ │ ├── G431CBU6.ind │ │ ├── SEGGER_THUMB_Startup.d │ │ ├── SEGGER_THUMB_Startup.o │ │ ├── STM32G4xx_Startup.d │ │ ├── STM32G4xx_Startup.o │ │ ├── main.d │ │ ├── main.o │ │ ├── stm32g431xx_Vectors.d │ │ ├── stm32g431xx_Vectors.o │ │ ├── system_stm32g4xx.d │ │ └── system_stm32g4xx.o └── Release │ ├── Exe │ ├── G431CBU6-esc.elf │ ├── G431CBU6-esc.ind │ └── G431CBU6-esc.map │ └── Obj │ └── G431CBU6-esc │ ├── G431CBU6-esc.ind │ ├── SEGGER_RTT.d │ ├── SEGGER_RTT.o │ ├── SEGGER_RTT_ASM_ARMv7M.d │ ├── SEGGER_RTT_ASM_ARMv7M.o │ ├── SEGGER_RTT_printf.d │ ├── SEGGER_RTT_printf.o │ ├── SEGGER_THUMB_Startup.d │ ├── SEGGER_THUMB_Startup.o │ ├── STM32G4xx_Startup.d │ ├── STM32G4xx_Startup.o │ ├── clarke.d │ ├── clarke.o │ ├── foc.d │ ├── foc.o │ ├── main.d │ ├── main.o │ ├── pi.d │ ├── pi.o │ ├── stm32g431xx_Vectors.d │ ├── stm32g431xx_Vectors.o │ ├── stm32g4xx_it.d │ ├── stm32g4xx_it.o │ ├── stm32g4xx_ll_adc.d │ ├── stm32g4xx_ll_adc.o │ ├── stm32g4xx_ll_cordic.d │ ├── stm32g4xx_ll_cordic.o │ ├── stm32g4xx_ll_dma.d │ ├── stm32g4xx_ll_dma.o │ ├── stm32g4xx_ll_exti.d │ ├── stm32g4xx_ll_exti.o │ ├── stm32g4xx_ll_gpio.d │ ├── stm32g4xx_ll_gpio.o │ ├── stm32g4xx_ll_opamp.d │ ├── stm32g4xx_ll_opamp.o │ ├── stm32g4xx_ll_pwr.d │ ├── stm32g4xx_ll_pwr.o │ ├── stm32g4xx_ll_tim.d │ ├── stm32g4xx_ll_tim.o │ ├── stm32g4xx_ll_utils.d │ ├── stm32g4xx_ll_utils.o │ ├── svgen.d │ ├── svgen.o │ ├── system_stm32g4xx.d │ ├── system_stm32g4xx.o │ ├── utils.d │ └── utils.o ├── README.md ├── RTT ├── SEGGER_RTT.c ├── SEGGER_RTT.h ├── SEGGER_RTT_ASM_ARMv7M.S ├── SEGGER_RTT_Conf.h └── SEGGER_RTT_printf.c ├── SEGGER_THUMB_Startup.s ├── STM32G431CBUx_MemoryMap.xml ├── STM32G431xx_Registers.xml ├── STM32G4xx ├── CMSIS │ └── Device │ │ ├── Include │ │ ├── stm32g431xx.h │ │ ├── stm32g441xx.h │ │ ├── stm32g471xx.h │ │ ├── stm32g473xx.h │ │ ├── stm32g474xx.h │ │ ├── stm32g483xx.h │ │ ├── stm32g484xx.h │ │ ├── stm32g491xx.h │ │ ├── stm32g4a1xx.h │ │ ├── stm32g4xx.h │ │ ├── stm32gbk1cb.h │ │ └── system_stm32g4xx.h │ │ └── Source │ │ └── system_stm32g4xx.c ├── STM32G4XX_LL_Drivers │ ├── Inc │ │ ├── stm32g4xx_ll_adc.h │ │ ├── stm32g4xx_ll_bus.h │ │ ├── stm32g4xx_ll_cordic.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_opamp.h │ │ ├── stm32g4xx_ll_pwr.h │ │ ├── stm32g4xx_ll_rcc.h │ │ ├── stm32g4xx_ll_system.h │ │ ├── stm32g4xx_ll_tim.h │ │ └── stm32g4xx_ll_utils.h │ └── Src │ │ ├── stm32g4xx_ll_adc.c │ │ ├── stm32g4xx_ll_cordic.c │ │ ├── stm32g4xx_ll_dma.c │ │ ├── stm32g4xx_ll_exti.c │ │ ├── stm32g4xx_ll_gpio.c │ │ ├── stm32g4xx_ll_opamp.c │ │ ├── stm32g4xx_ll_pwr.c │ │ ├── stm32g4xx_ll_tim.c │ │ └── stm32g4xx_ll_utils.c ├── Scripts │ └── STM32G4xx_Target.js └── Source │ ├── STM32G4xx_Startup.s │ └── stm32g431xx_Vectors.s ├── STM32G4xx_Flash.icf ├── control ├── pi.c └── pi.h ├── datatypes.h ├── foc ├── clarke.c ├── clarke.h ├── foc.c ├── foc.h ├── park.h ├── svgen.c └── svgen.h ├── hw_conf.h ├── jscope_project.jscope ├── logging ├── Data.csv ├── 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