├── .gitmodules ├── License ├── Readme.md ├── doc ├── block_diagram.svg ├── cdbus_gui.avif ├── cdfoc_motor.avif ├── cdfoc_v4.avif └── plot.avif ├── hardware ├── cdfoc_driver_v4.1.pdf ├── cdfoc_driver_v4.2.pdf ├── cdfoc_driver_v4.3.1.pdf ├── cdfoc_pcb_v4.1.png ├── cdfoc_pcb_v4.2.avif ├── sensor_tle5014_v1.pdf └── sensor_tle5014_v1.png ├── mdrv_bl ├── .gitignore ├── Core │ ├── Inc │ │ ├── main.h │ │ ├── stm32g4xx_hal_conf.h │ │ └── stm32g4xx_it.h │ └── Src │ │ ├── main.c │ │ ├── stm32g4xx_hal_msp.c │ │ ├── stm32g4xx_it.c │ │ ├── syscalls.c │ │ ├── sysmem.c │ │ └── system_stm32g4xx.c ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32G4xx │ │ │ │ ├── Include │ │ │ │ ├── stm32g431xx.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_cortex.h │ │ ├── stm32g4xx_hal_def.h │ │ ├── stm32g4xx_hal_dma.h │ │ ├── stm32g4xx_hal_dma_ex.h │ │ ├── stm32g4xx_hal_exti.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_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_uart.h │ │ ├── stm32g4xx_hal_uart_ex.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_usart.h │ │ └── stm32g4xx_ll_utils.h │ │ ├── LICENSE.txt │ │ └── Src │ │ ├── stm32g4xx_hal.c │ │ ├── stm32g4xx_hal_cortex.c │ │ ├── stm32g4xx_hal_dma.c │ │ ├── stm32g4xx_hal_dma_ex.c │ │ ├── stm32g4xx_hal_exti.c │ │ ├── stm32g4xx_hal_flash.c │ │ ├── stm32g4xx_hal_flash_ex.c │ │ ├── stm32g4xx_hal_flash_ramfunc.c │ │ ├── stm32g4xx_hal_gpio.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_uart.c │ │ └── stm32g4xx_hal_uart_ex.c ├── Makefile ├── flash.sh ├── mdrv_bl.ioc ├── startup_stm32g431xx.s ├── stm32g431cbux_flash.ld └── usr │ ├── app_main.c │ ├── app_main.h │ ├── cd_config.h │ ├── common_services.c │ ├── config.c │ └── debug_config.h ├── mdrv_fw ├── .gitignore ├── Core │ ├── Inc │ │ ├── main.h │ │ ├── stm32g4xx_hal_conf.h │ │ └── stm32g4xx_it.h │ └── Src │ │ ├── main.c │ │ ├── stm32g4xx_hal_msp.c │ │ ├── stm32g4xx_it.c │ │ ├── syscalls.c │ │ ├── sysmem.c │ │ └── system_stm32g4xx.c ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32G4xx │ │ │ │ ├── Include │ │ │ │ ├── stm32g431xx.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_flash.h │ │ ├── stm32g4xx_hal_flash_ex.h │ │ ├── stm32g4xx_hal_flash_ramfunc.h │ │ ├── stm32g4xx_hal_gpio.h │ │ ├── stm32g4xx_hal_gpio_ex.h │ │ ├── stm32g4xx_hal_i2c.h │ │ ├── stm32g4xx_hal_i2c_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_i2c.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_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_flash.c │ │ ├── stm32g4xx_hal_flash_ex.c │ │ ├── stm32g4xx_hal_flash_ramfunc.c │ │ ├── stm32g4xx_hal_gpio.c │ │ ├── stm32g4xx_hal_i2c.c │ │ ├── stm32g4xx_hal_i2c_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 ├── Makefile ├── flash.sh ├── mdrv_fw.ioc ├── startup_stm32g431xx.s ├── stm32g431cbux_flash.ld └── usr │ ├── app_main.c │ ├── app_main.h │ ├── app_motor.c │ ├── cd_config.h │ ├── common_services.c │ ├── config.c │ ├── debug_config.h │ ├── misc.c │ ├── pid_f.c │ ├── pid_f.h │ ├── pid_pos.c │ └── pid_pos.h └── tools ├── anticogging.py ├── cali_encoder.py └── plt.py /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dukelec/cdfoc/HEAD/.gitmodules -------------------------------------------------------------------------------- /License: 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