├── .gitignore ├── .gitmodules ├── Common ├── CMakeLists.txt └── MessageTypes.h ├── Documentation ├── B-G431B-ESC Brushless Servo Controller | Hackaday io.url ├── CAN Timing.xmcd ├── General-purpose timer cookbook for STM32 microcontrollers.pdf ├── Internal OP amp configuration.png ├── KEL102 & KEL103 user manual (DC Electronic Load)1540951313649.pdf ├── L6387ED.pdf ├── MOOC - Motor Control Part 2 - Workshop - YouTube.url ├── Motor Control Part5 - 1 Motor Control library overview - YouTube.url ├── Motors │ ├── Motor types.md │ ├── Polulu │ │ ├── 37d-gearmotor-3d-models.zip │ │ ├── 37d-metal-gearmotors-dimension-diagram.pdf │ │ ├── Polulu 64CPR Encoder.pdf │ │ └── Polulu Specs - 30-1 Metal Gearmotor 37Dx52L mm 12V with 64 CPR Encoder (No End Cap).pdf │ ├── Shinano │ │ ├── LA034-040NN09 Hall-effect sensor wiring.jpg │ │ ├── LA034-040NN09 Motor wiring.jpg │ │ └── LA034-040NN09.jpg │ ├── TT-Motor │ │ ├── Brushless Motor Connection mode A+B.pdf │ │ ├── Brushless Motor Connection mode C.pdf │ │ ├── Encoder solutions.pdf │ │ ├── GM37-3530-EN (Brushed).pdf │ │ ├── GM37-555PM (Brushed).pdf │ │ ├── GM37-TEC3650 (Brushless).pdf │ │ ├── GMP12-1220CA-09170-64-EN (Brushed).pdf │ │ ├── GMP36-TEC3650 (Brushless Planetary).pdf │ │ ├── Magnetic Encoder.pdf │ │ ├── Magnetic Encoders.pdf │ │ └── Optical Encoder (96-1024CPR).pdf │ └── Xinhe Motor │ │ ├── Magnetic Encoders 12CPR.pdf │ │ └── XH-500-37D-1 spec..pdf ├── OP amp configuration.png ├── Op amp calculation.xmcd ├── ST Material │ ├── Cross series Timer overview.pdf │ ├── STM32 GPIO and Timers.pdf │ ├── STM32G4 Online Training - STMicroelectronics.url │ ├── en.CD00165509.pdf │ ├── en.CD00258017.pdf │ ├── en.DM00236305.pdf │ ├── en.STM32G4-Analog-ADC.pdf │ ├── en.STM32G4-Analog-OPAMP_OPAMP.pdf │ ├── en.STM32G4-WDG_TIMERS-General_Purpose_Timer_GPTIM.pdf │ └── ourdev_265522.pdf ├── STM32 for Motor Control Applications.pdf ├── STM32Cube_FW_G4_V1.1.0 - Genvej.lnk ├── STM32G4 ADC use tips and recommendations.pdf ├── as11p2tlr.pdf ├── b-g431b-esc1.pdf ├── bat30.pdf ├── en.DM00564746 User manual.pdf ├── en.MB1419-G431CB-B01_schematic.pdf ├── en.mb1419_bom.zip ├── en.mb1419_bom │ ├── MB1419-G431CB-B01_BOM.xlsx │ └── readme.txt ├── stm32g431cb Datasheet.pdf ├── stm32g431cb Reference manual.pdf └── tcan330.pdf ├── Firmware ├── .clang-format ├── .clang-tidy ├── .cmake-format.py ├── .gitignore ├── .mxproject ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── CMakeLists.txt ├── Current sense sampling scheme.md ├── G431-ESC-Firmware.ioc ├── Inc │ ├── FirstOrderLPFSimple.h │ ├── FreeRTOSConfig.h │ ├── MainTask.h │ ├── MemoryManagement.h │ ├── Priorities.h │ ├── ProcessorInit.h │ ├── TestTask.h │ ├── freertos_tasks_c_additions.h │ ├── main.h │ ├── portable.h │ ├── stm32g4xx_hal_conf.h │ └── stm32g4xx_it.h ├── Libraries │ └── MotorDriver │ │ └── MotorDriver.h ├── Middlewares │ └── Third_Party │ │ └── FreeRTOS │ │ └── Source │ │ ├── CMSIS_RTOS │ │ ├── cmsis_os.c │ │ └── cmsis_os.h │ │ ├── croutine.c │ │ ├── event_groups.c │ │ ├── include │ │ ├── FreeRTOS.h │ │ ├── FreeRTOSConfig_template.h │ │ ├── StackMacros.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── message_buffer.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── stack_macros.h │ │ ├── stream_buffer.h │ │ ├── task.h │ │ └── timers.h │ │ ├── list.c │ │ ├── portable │ │ ├── GCC │ │ │ └── ARM_CM4F │ │ │ │ ├── port.c │ │ │ │ └── portmacro.h │ │ └── MemMang │ │ │ ├── heap_1.c │ │ │ ├── heap_2.c │ │ │ ├── heap_3.c │ │ │ ├── heap_4.c │ │ │ └── heap_5.c │ │ ├── queue.c │ │ ├── stream_buffer.c │ │ ├── tasks.c │ │ └── timers.c ├── PinMap.md ├── README.md ├── Src │ ├── FirstOrderLPFSimple.c │ ├── FreeRTOS-openocd.c │ ├── G431CB_WithEEProm.ld │ ├── MainTask.cpp │ ├── MemoryManagement.c │ ├── ProcessorInit.c │ ├── TestTask.cpp │ ├── freertos.c │ ├── heap_useNewlib.c │ ├── main.c │ ├── startup_stm32g431xx.s │ ├── stm32g4xx_it.c │ ├── syscalls.c │ ├── system_stm32g4xx.c │ └── tmp_main.c ├── Tasks │ ├── CurrentControllerTask │ │ ├── CurrentControllerTask.cpp │ │ └── CurrentControllerTask.h │ ├── ManualControlTask │ │ ├── ManualControlTask.cpp │ │ └── ManualControlTask.h │ ├── ParameterEstimatorTask │ │ ├── ParameterEstimatorTask.cpp │ │ └── ParameterEstimatorTask.h │ └── SpeedControllerTask │ │ ├── SpeedControllerTask.cpp │ │ └── SpeedControllerTask.h ├── clang-format.sh ├── cmake-format.sh └── cmake │ ├── .gitignore │ ├── FindBSP.cmake │ ├── FindCMSIS.cmake │ ├── FindFreeRTOS.cmake │ ├── FindHAL.cmake │ ├── gdb.cfg │ ├── git_submodule.cmake │ ├── info.cmake │ ├── misc │ ├── DefaultInterrupts │ │ ├── CMakeLists.txt │ │ ├── DefaultInterrupts.c │ │ └── DefaultInterrupts.h │ ├── FreeRTOS_Heap_Newlib │ │ ├── README │ │ ├── heap_newlib.c │ │ ├── mallocTracker.cpp │ │ ├── mallocTracker.h │ │ └── mallocTracker.hpp │ ├── FreeRTOS_MallocOverload │ │ ├── MallocOverload.c │ │ └── README │ ├── FreeRTOS_OpenOCD │ │ ├── FreeRTOS_OpenOCD.c │ │ ├── README │ │ └── freertos_tasks_c_additions.h │ ├── STM32_HAL │ │ └── stm32_hal.h │ ├── Syscalls │ │ ├── CMakeLists.txt │ │ └── syscalls.c │ └── Sysmem │ │ ├── CMakeLists.txt │ │ └── sysmem.c │ ├── print_target_properties.cmake │ ├── stm32.cmake │ ├── stm32 │ ├── common.cmake │ ├── devices.cmake │ ├── f0.cmake │ ├── f1.cmake │ ├── f2.cmake │ ├── f3.cmake │ ├── f4.cmake │ ├── f7.cmake │ ├── g0.cmake │ ├── g4.cmake │ ├── h7.cmake │ ├── l0.cmake │ ├── l1.cmake │ ├── l4.cmake │ ├── l5.cmake │ ├── linker_ld.cmake │ ├── openocd_cfg.cmake │ └── utilities.cmake │ └── stm32_gcc.cmake ├── LICENSE ├── MATLAB ├── .gitignore ├── Calibration │ ├── CurrentSenseCalibration.m │ └── VbusCalibration.m ├── Codegen │ ├── CodegenExample.m │ ├── CodegenToMEX.m │ └── CoderConfig_ARM_CortexM.mat ├── Controllers │ └── CurrentController │ │ ├── AnalyzePIcontroller.m │ │ ├── ControllerLQR.m │ │ ├── CurrentControllerPI.m │ │ ├── CurrentControllerTuningRootLocus.mat │ │ ├── PositionControllerPID.m │ │ ├── SpeedControllerPI.m │ │ └── SpeedControllerTuningRootLocus.mat ├── DataProcessing │ ├── CSV │ │ ├── LoadCombinedSamplesCSV.m │ │ ├── LoadControllerDump.m │ │ ├── LoadDump.m │ │ ├── LoadRawDump.m │ │ ├── VisualizeCombinedSample.m │ │ ├── VisualizeControllerDebug.m │ │ └── functions │ │ │ ├── ParseCombinedSample.m │ │ │ └── ParseControllerDebug.m │ ├── Raw │ │ ├── DataProcessingFromEclipseMemory.m │ │ ├── PlotBEMFdata.m │ │ ├── PlotCombinedData.m │ │ ├── PlotSteadyStateVelocities.m │ │ ├── PlotSweepData.m │ │ ├── PlotSweepData2.m │ │ └── functions │ │ │ ├── adc2current.m │ │ │ ├── adc2volt.m │ │ │ ├── current2adc.m │ │ │ ├── getDataFromEclipseMemoryTextDump.m │ │ │ └── parseData.m │ └── functions │ │ ├── Downsample.m │ │ ├── Extract.m │ │ ├── ExtractIndices.m │ │ ├── RemoveTime.m │ │ ├── Trim.m │ │ ├── TrimSynced.m │ │ ├── csvwrite_with_headers.m │ │ ├── getlatestfile.m │ │ └── smooth.m ├── DesignExploration │ ├── ADC_Configuration.m │ ├── CurrentVarianceSurfPlot.m │ ├── LowPassFilterDesign.m │ ├── PWM_ChargeAndDischarge.m │ ├── PWM_ChargeAndDischarge_WithBackEMF.m │ ├── PWM_CurrentSense_Filtering.m │ ├── SampleTimeGainCompensation.m │ ├── Test_Chirp.m │ ├── Test_Ramp.m │ └── functions │ │ ├── PWMChirpTimeseries.m │ │ ├── PWM_Generator.m │ │ ├── SampleOFFcompensationGain.m │ │ └── SampleONcompensationGain.m ├── Estimation │ ├── Current-EKF │ │ ├── MotorCurrentEKF.m │ │ ├── MotorCurrentEKF2.m │ │ ├── MotorCurrentEKF3.m │ │ ├── MotorCurrentEKF4.m │ │ ├── MotorCurrentEKF5.m │ │ ├── MotorCurrentEKF6.m │ │ ├── MotorCurrentEKF7.m │ │ └── TestMotorCurrentEKF.m │ ├── CurrentFIRfilter.m │ ├── ElectricalParameters │ │ ├── RL_Estimation_FromFrequencyModel_RunningMotor.m │ │ ├── RL_Estimation_FromFrequencyModel_RunningMotor_Dynamic.m │ │ ├── RL_Estimation_FromFrequencyModel_StaticMotor.m │ │ ├── RL_Estimation_From_ExponentialChargeDischargeCurve.m │ │ └── RL_Estimation_From_PWM_ChargeAndDischarge_WithBackEMF.m │ ├── JointMotorParamEstimator │ │ └── JointMotorParamEstimator.m │ ├── L-EKF │ │ └── L_EKF.m │ ├── MechanicalParameters │ │ ├── B_tauc_Estimation.m │ │ ├── ElectromechanicalParameterEstimation.m │ │ ├── FitKeFromBemfDump.m │ │ ├── JointMechanical_NonlinearParameterEstimation.m │ │ └── MechanicalParameterEKF.m │ ├── MotorParameterEstimation.m │ ├── RL-EKF │ │ ├── MotorRL_EKF.m │ │ ├── MotorRL_EKF2.m │ │ ├── MotorRL_EKF_CenterAligned.m │ │ ├── MotorRL_EKF_WithOffsetSampling.m │ │ ├── RL_EKF.m │ │ ├── RL_EKF2.m │ │ ├── RL_EKF3.m │ │ ├── TestMotorRL_EKF.m │ │ ├── TestMotorRL_EKF_FromG431DutySweep.m │ │ ├── TestMotorRL_EKF_FromG431FrequencySweep.m │ │ ├── TestMotorRL_EKF_FromSweepData.m │ │ ├── TestMotorRL_EKF_WithOscilloscopeMeasurements.m │ │ ├── TestRL_EKF_FromG431FrequencySweep.m │ │ ├── TestRL_EKF_FromSweepData.m │ │ └── functions │ │ │ ├── getCurrentDown.m │ │ │ └── getCurrentUp.m │ ├── SineWaveTracker │ │ ├── README.md │ │ ├── SineWaveEKF.m │ │ ├── SineWaveEKF2.m │ │ ├── SineWaveTracker.m │ │ └── matlab_workspace.mat │ ├── SpeedEstimator │ │ ├── SpeedEstimationTest.m │ │ ├── TestVelocityFitFromEncoder.m │ │ └── VelocityFitFromEncoder.m │ └── VNHvsINA_ScaleEstimation.m ├── Model │ ├── MechanicalModelStepTest.m │ ├── ModelLaplace.m │ ├── ModelStateSpace.m │ ├── getCurrentDown.m │ └── getCurrentUp.m ├── Parameters │ ├── Constants_ESC.m │ ├── Parameters_Controller.m │ ├── Parameters_Estimators.m │ ├── Parameters_Model.m │ ├── Parameters_Simulation.m │ ├── Parameters_Test_Chirp.m │ └── Parameters_Test_Ramp.m ├── README.md └── Simulation │ ├── ChirpTest.slx │ ├── ChirpTest_ParameterEstimation.slx │ ├── MechanicalParameterEstimation.slx │ ├── MotorParameterEstimation.slx │ ├── MotorSim_FullFidelityWithPWM.slx │ ├── MotorSim_MechanicalParameterEstimation.slx │ ├── MotorSim_ReducedFidelityComparison.slx │ ├── SimpleMotorModel.slx │ └── subsystems │ ├── BackEMF_Sensor.slx │ ├── Current_Sensor_Ideal.slx │ ├── Current_Sensor_PWM_Synchronized.slx │ ├── DC_Motor_BrakeMode.slx │ ├── DC_Motor_BrakeMode_Ideal.slx │ ├── DC_Motor_BrakeMode_Ideal_WithGearbox.slx │ ├── DC_Motor_BrakeMode_WithGearbox.slx │ ├── DC_Motor_CoastMode.slx │ ├── DC_Motor_CoastMode_Ideal.slx │ ├── DC_Motor_CoastMode_Ideal_WithGearbox.slx │ ├── DC_Motor_CoastMode_WithGearbox.slx │ ├── Encoder_Sensor.slx │ ├── Gearbox.slx │ ├── MechanicalParameterEKF_.slx │ ├── MotorCurrentEKF_.slx │ ├── PWM.slx │ ├── PWM_Advanced.slx │ └── RL_EKF_.slx ├── Python ├── .coveragerc ├── .flake8 ├── .gitignore ├── .python-version ├── CANBus.py ├── CAN_Test.py ├── MotorDriverGUI.py ├── MotorDriverGUI2.py ├── MotorDriverGUI_Controller.py ├── README.md ├── conda_environment_setup.sh ├── lspc.py ├── python-format.sh ├── requirements.txt ├── setup.py ├── testMotorDriver_CAN.py └── test_lspc.py ├── README.md ├── Research ├── Motor parameter estimation litterature │ ├── 1-s2.0-S0967066119300814-main.pdf │ ├── Least_Squares_ex_proj_2008.pdf │ ├── Levenberg-Marquardt Nonlinear Minimization.pdf │ ├── Nonlinear Least-Squares Fitting — GSL 2.6 documentation.pdf │ ├── PMDC_Motor_Parameter_Estimation_Using_Bio-Inspired.pdf │ └── WP_Parameter_Identification_english.pdf ├── VNH Current sense.asc └── inrush_limit.asc ├── TODO.md └── Tools ├── .clang-format ├── .clang-tidy ├── .cmake-format.py ├── .gitignore ├── CMakeLists.txt ├── README.md ├── clang-format.sh ├── cmake-format.sh ├── cmake_common ├── FindBrisk.cmake ├── FindQGLViewer.cmake ├── FindQGLViewer2.cmake ├── FindSuiteParse.cmake ├── cuda.cmake ├── easy_profiler │ ├── easy_profiler.cmake │ └── install.sh ├── eigen │ ├── eigen.cmake │ └── install.sh ├── g2o │ ├── FindG2O.cmake │ ├── g2o.cmake │ └── install.sh ├── gtsam │ ├── FindEigen3.cmake │ ├── gtsam.cmake │ ├── gtsam_eigen.cmake │ └── install.sh ├── openblas │ ├── FindOpenBLAS.cmake │ ├── install.sh │ └── openblas.cmake ├── opencv │ ├── opencv24.cmake │ ├── opencv3.cmake │ └── opencv4.cmake ├── openmp.cmake ├── pangolin │ ├── install.sh │ └── pangolin.cmake ├── pybind11.cmake ├── pybind11.py ├── qglviewer │ ├── install.sh │ └── qglviewer.cmake ├── qt5.cmake ├── spdlog │ ├── install.sh │ └── spdlog.cmake └── yaml │ ├── install.sh │ └── yaml.cmake ├── include └── CMakeLists.txt ├── libs ├── lspc │ ├── CMakeLists.txt │ ├── LSPC.h │ ├── Packet.hpp │ ├── README │ ├── Serializable.hpp │ ├── Socket.cpp │ └── SocketBase.hpp ├── spdlog │ ├── .clang-format │ ├── .clang-tidy │ ├── .gitattributes │ ├── .gitignore │ ├── .travis.yml │ ├── CMakeLists.txt │ ├── INSTALL │ ├── LICENSE │ ├── README.md │ ├── appveyor.yml │ ├── bench │ │ ├── CMakeLists.txt │ │ ├── async_bench.cpp │ │ ├── bench.cpp │ │ ├── formatter-bench.cpp │ │ ├── latency.cpp │ │ └── utils.h │ ├── cmake │ │ ├── ide.cmake │ │ ├── pch.h.in │ │ ├── spdlog.pc.in │ │ ├── spdlogCPack.cmake │ │ ├── spdlogConfig.cmake.in │ │ ├── utils.cmake │ │ └── version.rc.in │ ├── example │ │ ├── CMakeLists.txt │ │ └── example.cpp │ ├── include │ │ └── spdlog │ │ │ ├── async.h │ │ │ ├── async_logger-inl.h │ │ │ ├── async_logger.h │ │ │ ├── cfg │ │ │ ├── argv.h │ │ │ ├── env.h │ │ │ ├── helpers-inl.h │ │ │ └── helpers.h │ │ │ ├── common-inl.h │ │ │ ├── common.h │ │ │ ├── details │ │ │ ├── backtracer-inl.h │ │ │ ├── backtracer.h │ │ │ ├── circular_q.h │ │ │ ├── console_globals.h │ │ │ ├── file_helper-inl.h │ │ │ ├── file_helper.h │ │ │ ├── fmt_helper.h │ │ │ ├── log_msg-inl.h │ │ │ ├── log_msg.h │ │ │ ├── log_msg_buffer-inl.h │ │ │ ├── log_msg_buffer.h │ │ │ ├── mpmc_blocking_q.h │ │ │ ├── null_mutex.h │ │ │ ├── os-inl.h │ │ │ ├── os.h │ │ │ ├── periodic_worker-inl.h │ │ │ ├── periodic_worker.h │ │ │ ├── registry-inl.h │ │ │ ├── registry.h │ │ │ ├── synchronous_factory.h │ │ │ ├── tcp_client-windows.h │ │ │ ├── tcp_client.h │ │ │ ├── thread_pool-inl.h │ │ │ ├── thread_pool.h │ │ │ └── windows_include.h │ │ │ ├── fmt │ │ │ ├── bin_to_hex.h │ │ │ ├── bundled │ │ │ │ ├── LICENSE.rst │ │ │ │ ├── chrono.h │ │ │ │ ├── color.h │ │ │ │ ├── compile.h │ │ │ │ ├── core.h │ │ │ │ ├── format-inl.h │ │ │ │ ├── format.h │ │ │ │ ├── locale.h │ │ │ │ ├── os.h │ │ │ │ ├── ostream.h │ │ │ │ ├── posix.h │ │ │ │ ├── printf.h │ │ │ │ └── ranges.h │ │ │ ├── chrono.h │ │ │ ├── fmt.h │ │ │ └── ostr.h │ │ │ ├── formatter.h │ │ │ ├── fwd.h │ │ │ ├── logger-inl.h │ │ │ ├── logger.h │ │ │ ├── pattern_formatter-inl.h │ │ │ ├── pattern_formatter.h │ │ │ ├── sinks │ │ │ ├── android_sink.h │ │ │ ├── ansicolor_sink-inl.h │ │ │ ├── ansicolor_sink.h │ │ │ ├── base_sink-inl.h │ │ │ ├── base_sink.h │ │ │ ├── basic_file_sink-inl.h │ │ │ ├── basic_file_sink.h │ │ │ ├── daily_file_sink.h │ │ │ ├── dist_sink.h │ │ │ ├── dup_filter_sink.h │ │ │ ├── hourly_file_sink.h │ │ │ ├── msvc_sink.h │ │ │ ├── null_sink.h │ │ │ ├── ostream_sink.h │ │ │ ├── ringbuffer_sink.h │ │ │ ├── rotating_file_sink-inl.h │ │ │ ├── rotating_file_sink.h │ │ │ ├── sink-inl.h │ │ │ ├── sink.h │ │ │ ├── stdout_color_sinks-inl.h │ │ │ ├── stdout_color_sinks.h │ │ │ ├── stdout_sinks-inl.h │ │ │ ├── stdout_sinks.h │ │ │ ├── syslog_sink.h │ │ │ ├── systemd_sink.h │ │ │ ├── tcp_sink.h │ │ │ ├── win_eventlog_sink.h │ │ │ ├── wincolor_sink-inl.h │ │ │ └── wincolor_sink.h │ │ │ ├── spdlog-inl.h │ │ │ ├── spdlog.h │ │ │ ├── stopwatch.h │ │ │ ├── tweakme.h │ │ │ └── version.h │ ├── logos │ │ └── jetbrains-variant-4.svg │ ├── scripts │ │ ├── extract_version.py │ │ └── format.sh │ ├── src │ │ ├── async.cpp │ │ ├── cfg.cpp │ │ ├── color_sinks.cpp │ │ ├── file_sinks.cpp │ │ ├── fmt.cpp │ │ ├── spdlog.cpp │ │ └── stdout_sinks.cpp │ └── tests │ │ ├── CMakeLists.txt │ │ ├── catch.hpp │ │ ├── catch.license │ │ ├── includes.h │ │ ├── main.cpp │ │ ├── test_async.cpp │ │ ├── test_backtrace.cpp │ │ ├── test_cfg.cpp │ │ ├── test_create_dir.cpp │ │ ├── test_daily_logger.cpp │ │ ├── test_dup_filter.cpp │ │ ├── test_errors.cpp │ │ ├── test_eventlog.cpp │ │ ├── test_file_helper.cpp │ │ ├── test_file_logging.cpp │ │ ├── test_fmt_helper.cpp │ │ ├── test_macros.cpp │ │ ├── test_misc.cpp │ │ ├── test_mpmc_q.cpp │ │ ├── test_pattern_formatter.cpp │ │ ├── test_registry.cpp │ │ ├── test_sink.h │ │ 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