├── .gitignore ├── README.md └── nucleo144_H743 ├── Core ├── Inc │ ├── BLDCMotor.h │ ├── SimpleFOC.h │ ├── main.h │ ├── stm32h7xx_hal_conf.h │ └── stm32h7xx_it.h ├── Src │ ├── BLDCMotor.cpp │ ├── common │ │ ├── base_classes │ │ │ ├── BLDCDriver.h │ │ │ ├── FOCMotor.cpp │ │ │ ├── FOCMotor.h │ │ │ └── Sensor.h │ │ ├── defaults.h │ │ ├── foc_utils.cpp │ │ ├── foc_utils.h │ │ ├── lowpass_filter.cpp │ │ ├── lowpass_filter.h │ │ ├── pid.cpp │ │ ├── pid.h │ │ ├── time_utils.cpp │ │ └── time_utils.h │ ├── main.cpp │ ├── motor_drivers │ │ ├── BLDCDriver3PWM.cpp │ │ └── BLDCDriver3PWM.h │ ├── sensors │ │ ├── Encoder.cpp │ │ └── Encoder.h │ ├── stm32h7xx_hal_msp.c │ ├── stm32h7xx_it.c │ ├── syscalls.c │ ├── sysmem.c │ └── system_stm32h7xx.c └── Startup │ └── startup_stm32h743zitx.s ├── Drivers ├── CMSIS │ ├── Device │ │ └── ST │ │ │ └── STM32H7xx │ │ │ └── Include │ │ │ ├── stm32h743xx.h │ │ │ ├── stm32h7xx.h │ │ │ └── system_stm32h7xx.h │ └── Include │ │ ├── cmsis_armcc.h │ │ ├── cmsis_armclang.h │ │ ├── cmsis_compiler.h │ │ ├── cmsis_gcc.h │ │ ├── cmsis_iccarm.h │ │ ├── cmsis_version.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_cm4.h │ │ ├── core_cm7.h │ │ ├── core_sc000.h │ │ ├── core_sc300.h │ │ ├── mpu_armv7.h │ │ ├── mpu_armv8.h │ │ └── tz_context.h └── STM32H7xx_HAL_Driver │ ├── Inc │ ├── Legacy │ │ └── stm32_hal_legacy.h │ ├── stm32h7xx_hal.h │ ├── stm32h7xx_hal_cortex.h │ ├── stm32h7xx_hal_def.h │ ├── stm32h7xx_hal_dma.h │ ├── stm32h7xx_hal_dma_ex.h │ ├── stm32h7xx_hal_exti.h │ ├── stm32h7xx_hal_flash.h │ ├── stm32h7xx_hal_flash_ex.h │ ├── stm32h7xx_hal_gpio.h │ ├── stm32h7xx_hal_gpio_ex.h │ ├── stm32h7xx_hal_hsem.h │ ├── stm32h7xx_hal_i2c.h │ ├── stm32h7xx_hal_i2c_ex.h │ ├── stm32h7xx_hal_mdma.h │ ├── stm32h7xx_hal_pwr.h │ ├── stm32h7xx_hal_pwr_ex.h │ ├── stm32h7xx_hal_rcc.h │ ├── stm32h7xx_hal_rcc_ex.h │ ├── 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