├── .ccsproject ├── .cproject ├── .gitignore ├── .launches └── servo_pmsm.launch ├── .project ├── .settings ├── org.eclipse.cdt.codan.core.prefs ├── org.eclipse.cdt.debug.core.prefs └── org.eclipse.core.resources.prefs ├── Debug ├── ccsObjs.opt ├── makefile ├── objects.mk └── sources.mk ├── README.md ├── cmd ├── 2837xD_FLASH_lnk_cpu1.cmd ├── 2837xD_RAM_lnk_cpu1.cmd └── F2837xD_Headers_nonBIOS_cpu1.cmd ├── common ├── include │ ├── F2837xD_Adc_defines.h │ ├── F2837xD_Can_defines.h │ ├── F2837xD_Cla_defines.h │ ├── F2837xD_Cla_typedefs.h │ ├── F2837xD_Dma_defines.h │ ├── F2837xD_EPwm_defines.h │ ├── F2837xD_Emif_defines.h │ ├── F2837xD_Examples.h │ ├── F2837xD_GlobalPrototypes.h │ ├── F2837xD_Gpio_defines.h │ ├── F2837xD_I2c_defines.h │ ├── F2837xD_Ipc_defines.h │ ├── F2837xD_Ipc_drivers.h │ ├── F2837xD_Pie_defines.h │ ├── F2837xD_SWPrioritizedIsrLevels.h │ ├── F2837xD_SysCtrl_defines.h │ ├── F2837xD_Systick_defines.h │ ├── F2837xD_Upp_defines.h │ ├── F2837xD_cputimervars.h │ ├── F2837xD_defaultisr.h │ ├── F2837xD_sci_io.h │ ├── F2837xD_sdfm_drivers.h │ ├── F2837xD_struct.h │ ├── F28x_Project.h │ ├── device.h │ ├── usb.h │ └── usb_hal.h ├── source │ ├── F2837xD_Adc.c │ ├── F2837xD_CodeStartBranch.asm │ ├── F2837xD_CpuTimers.c │ ├── F2837xD_DBGIER.asm │ ├── F2837xD_DefaultISR.c │ ├── F2837xD_Dma.c │ ├── F2837xD_ECap.c │ ├── F2837xD_EPwm.c │ ├── F2837xD_EQep.c │ ├── F2837xD_Emif.c │ ├── F2837xD_Gpio.c │ ├── F2837xD_I2C.c │ ├── F2837xD_Ipc.c │ ├── F2837xD_Ipc_Driver.c │ ├── F2837xD_Ipc_Driver_Lite.c │ ├── F2837xD_Ipc_Driver_Util.c │ ├── F2837xD_Mcbsp.c │ ├── F2837xD_PieCtrl.c │ ├── F2837xD_PieVect.c │ ├── F2837xD_SWPrioritizedPieVect.c │ ├── F2837xD_Sci.c │ ├── F2837xD_Spi.c │ ├── F2837xD_SysCtrl.c │ ├── F2837xD_TempSensorConv.c │ ├── F2837xD_Upp.c │ ├── F2837xD_can.c │ ├── F2837xD_sci_io.c │ ├── F2837xD_sdfm_drivers.c │ ├── F2837xD_struct.c │ ├── F2837xD_usDelay.asm │ ├── device.c │ ├── usb.c │ └── usb_hal.c └── targetConfigs │ ├── TMS320F28377D.ccxml │ └── TMS320F28379D.ccxml ├── doc ├── datasheet │ ├── IndutrialDrivesRev[2.2.1].pdf │ ├── controlBoard.pdf │ ├── controlBoard_sch.pdf │ ├── fanuc_A860-2020-T301_pinout.txt │ ├── fcl_sensored_pmsm_iddk_users_guide.pdf │ ├── spru514_c_compiler.pdf │ ├── sprui77c_launchpad.pdf │ ├── spruip4.pdf │ └── spruiq4.pdf ├── pics │ ├── TMDXIDDK379D.jpeg │ ├── cnc_connection1.jpg │ ├── cnc_connection2.jpg │ ├── cnc_connection3.jpg │ ├── controlcard.jpeg │ ├── fanuc_encoder_pinout.jpg │ ├── fanuc_encoder_pinout_datasheet.png │ ├── lab1.jpg │ ├── launchpad.jpeg │ ├── launchpad_detailed.jpg │ ├── master_plan.odg │ ├── master_plan.svg │ ├── mitsubishi_encoder1.jpg │ ├── mitsubishi_encoder2.jpg │ ├── mitsubishi_motor.jpg │ ├── moldova1.jpg │ ├── moldova2.jpg │ ├── moldova3.jpg │ ├── moldova4.jpg │ ├── moldova5.jpg │ ├── moldova6.jpg │ ├── moldova7.jpg │ ├── motor_szgh.jpg │ ├── motor_szgh_parameters.jpg │ ├── motor_szgh_pinout.jpg │ ├── motor_szgh_pinout_chinese.jpg │ ├── poles4.jpg │ ├── proto1.jpg │ ├── proto2.jpg │ ├── proto3.jpg │ ├── proto4.jpg │ ├── sin1.png │ ├── step1.png │ └── step2.png ├── ref │ ├── 20130702101647546.pdf │ ├── 3-Phase AC Motor Controller.pdf │ ├── 6e7c69a1f7a60de13d856f71718eca72e64a.pdf │ ├── AN1958_NXP.pdf │ ├── JCRA2010_modules_Clarke_publicado.pdf │ ├── PMSM_servo_drive.pdf │ ├── SF2_MC_Park_InvPark_Clarke_InvClarke_Transforms_UG.pdf │ ├── Vittek.pdf │ ├── eqep_ex2_calculation.xls │ ├── pid_demistified.pdf │ └── servo_control.pdf └── videos │ ├── encoder_manual.gif │ ├── fanuc_analog_output.gif │ ├── fanuc_qep_output.gif │ ├── info.txt │ ├── level2open_loop.gif │ ├── level5closed_loop.gif │ ├── proto1.gif │ ├── pwm.gif │ ├── pwm_3ph_openloop.gif │ ├── sasha_test.gif │ ├── sci.gif │ ├── servo_plus_cnc1.gif │ ├── sin1.gif │ ├── step1.gif │ ├── step2.gif │ └── szgh13380cc_runnning.gif ├── flash.sh ├── gnuplot ├── config.plt ├── plot.sh └── script.plt ├── headers └── include │ ├── F2837xD_adc.h │ ├── F2837xD_analogsubsys.h │ ├── F2837xD_can.h │ ├── F2837xD_cla.h │ ├── F2837xD_cmpss.h │ ├── F2837xD_cputimer.h │ ├── F2837xD_dac.h │ ├── F2837xD_dcsm.h │ ├── F2837xD_device.h │ ├── F2837xD_dma.h │ ├── F2837xD_ecap.h │ ├── F2837xD_emif.h │ ├── F2837xD_epwm.h │ ├── F2837xD_epwm_xbar.h │ ├── F2837xD_eqep.h │ ├── F2837xD_flash.h │ ├── F2837xD_gpio.h │ ├── F2837xD_i2c.h │ ├── F2837xD_input_xbar.h │ ├── F2837xD_ipc.h │ ├── F2837xD_mcbsp.h │ ├── F2837xD_memconfig.h │ ├── F2837xD_nmiintrupt.h │ ├── F2837xD_output_xbar.h │ ├── F2837xD_piectrl.h │ ├── F2837xD_pievect.h │ ├── F2837xD_sci.h │ ├── F2837xD_sdfm.h │ ├── F2837xD_spi.h │ ├── F2837xD_sysctrl.h │ ├── F2837xD_upp.h │ ├── F2837xD_xbar.h │ └── F2837xD_xint.h ├── include ├── IQmathLib.h ├── _data_synch.h ├── _defs.h ├── _fmt_specifier.h ├── _isfuncdcl.h ├── _isfuncdef.h ├── _lock.h ├── _mutex.h ├── _pthread.h ├── _reg_mutex_api.h ├── _reg_synch_api.h ├── _stdint40.h ├── _ti_config.h ├── _tls.h ├── abi_prefix.h ├── assert.h ├── autoinit.h ├── boot_hooks.h ├── complex ├── complex.h ├── cpp_inline_math.h ├── cpy_tbl.h ├── crc_defines.h ├── crc_tbl.h ├── ctype.h ├── cxxabi.h ├── elfnames.h ├── errno.h ├── exception.stdh ├── fenv-softfloat.h ├── fenv.h ├── file.h ├── float.h ├── inttypes.h ├── iso646.h ├── limits.h ├── linkage.h ├── locale.h ├── lowlev.h ├── math.h ├── new.stdh ├── opt.h ├── pprof.h ├── setjmp.h ├── signal.h ├── stdalign.h ├── stdarg.h ├── stdbool.h ├── stddef.h ├── stdint.h ├── stdio.h ├── stdlib.h ├── stdlibf.h ├── stdnoreturn.h ├── string.h ├── strings.h ├── tgmath.h ├── time.h ├── trgdrv.h ├── typeinfo.stdh ├── wchar.h └── wctype.h ├── lib ├── IQmath_fpu32.lib ├── IQmath_fpu32_coff.lib ├── control │ ├── ctrl │ │ ├── include │ │ │ ├── ctrl.h │ │ │ ├── ctrl_obj.h │ │ │ └── ctrl_states.h │ │ └── source │ │ │ └── ctrl.c │ ├── fwc │ │ ├── include │ │ │ └── fwc.h │ │ └── source │ │ │ └── fwc.c │ ├── mtpa │ │ ├── include │ │ │ └── mtpa.h │ │ └── source │ │ │ └── mtpa.c │ ├── pi │ │ ├── include │ │ │ └── pi.h │ │ └── source │ │ │ └── pi.c │ ├── pid │ │ ├── include │ │ │ └── pid.h │ │ └── source │ │ │ └── pid.c │ ├── vs_freq │ │ ├── include │ │ │ └── vs_freq.h │ │ └── source │ │ │ └── vs_freq.c │ └── vsf │ │ ├── include │ │ └── vsf.h │ │ └── source │ │ └── vsf.c ├── driverlib │ ├── adc.c │ ├── adc.h │ ├── asysctl.c │ ├── asysctl.h │ ├── can.c │ ├── can.h │ ├── cla.c │ ├── cla.h │ ├── cmpss.c │ ├── cmpss.h │ ├── cpu.h │ ├── cputimer.c │ ├── cputimer.h │ ├── dac.c │ ├── dac.h │ ├── dcsm.c │ ├── dcsm.h │ ├── debug.h │ ├── dma.c │ ├── dma.h │ ├── driverlib.h │ ├── ecap.c │ ├── ecap.h │ ├── emif.c │ ├── emif.h │ ├── epwm.c │ ├── epwm.h │ ├── eqep.c │ ├── eqep.h │ ├── flash.c │ ├── flash.h │ ├── gpio.c │ ├── gpio.h │ ├── hrpwm.c │ ├── hrpwm.h │ ├── i2c.c │ ├── i2c.h │ ├── inc │ │ ├── hw_adc.h │ │ ├── hw_asysctl.h │ │ ├── hw_can.h │ │ ├── hw_cla.h │ │ ├── hw_clbxbar.h │ │ ├── hw_cmpss.h │ │ ├── hw_cputimer.h │ │ ├── hw_dac.h │ │ ├── hw_dcsm.h │ │ ├── hw_dma.h │ │ ├── hw_ecap.h │ │ ├── hw_emif.h │ │ ├── hw_epwm.h │ │ ├── hw_epwmxbar.h │ │ ├── hw_eqep.h │ │ ├── hw_flash.h │ │ ├── hw_gpio.h │ │ ├── hw_hrpwm.h │ │ ├── hw_i2c.h │ │ ├── hw_inputxbar.h │ │ ├── hw_ints.h │ │ ├── hw_ipc.h │ │ ├── hw_mcbsp.h │ │ ├── hw_memcfg.h │ │ ├── hw_memmap.h │ │ ├── hw_nmi.h │ │ ├── hw_outputxbar.h │ │ ├── hw_pie.h │ │ ├── hw_sci.h │ │ ├── hw_sdfm.h │ │ ├── hw_spi.h │ │ ├── hw_sysctl.h │ │ ├── hw_types.h │ │ ├── hw_upp.h │ │ ├── hw_xbar.h │ │ └── hw_xint.h │ ├── interrupt.c │ ├── interrupt.h │ ├── mcbsp.c │ ├── mcbsp.h │ ├── memcfg.c │ ├── memcfg.h │ ├── pin_map.h │ ├── sci.c │ ├── sci.h │ ├── sdfm.c │ ├── sdfm.h │ ├── spi.c │ ├── spi.h │ ├── sysctl.c │ ├── sysctl.h │ ├── upp.c │ ├── upp.h │ ├── version.c │ ├── version.h │ ├── xbar.c │ └── xbar.h ├── fcl │ ├── docs │ │ └── fast_current_loop_library_users_guide.pdf │ ├── include │ │ ├── fcl_cpu_cla.h │ │ └── fcl_pi.h │ └── lib │ │ ├── fcl_cpu_cla.lib │ │ ├── fcl_cpu_cla_coff.lib │ │ └── fcl_cpu_cla_eabi.lib ├── filter │ ├── filter_fo │ │ ├── include │ │ │ └── filter_fo.h │ │ └── source │ │ │ └── filter_fo.c │ ├── filter_so │ │ ├── include │ │ │ └── filter_so.h │ │ └── source │ │ │ └── filter_so.c │ └── offset │ │ ├── include │ │ └── offset.h │ │ └── source │ │ └── offset.c ├── math │ ├── include │ │ └── math.h │ └── source │ │ ├── FPUmathTables.asm │ │ ├── sincos.asm │ │ └── sqrt.asm ├── observers │ ├── est │ │ ├── include │ │ │ ├── est.h │ │ │ ├── est_Flux_states.h │ │ │ ├── est_Ls_states.h │ │ │ ├── est_Rr_states.h │ │ │ ├── est_Rs_states.h │ │ │ ├── est_Traj_states.h │ │ │ ├── est_states.h │ │ │ ├── motor.h │ │ │ └── userParams.h │ │ └── source │ │ │ ├── user.c │ │ │ └── user_dm.c │ ├── fast │ │ └── lib │ │ │ └── f28004x │ │ │ └── f28004x_fast_rom_symbols_fpu32.lib │ └── slip │ │ ├── include │ │ └── slip.h │ │ └── source │ │ └── slip.c ├── position_sensing │ └── qep │ │ └── include │ │ └── qep_defs.h ├── rts2800_fpu32.lib ├── transforms │ ├── clarke │ │ ├── include │ │ │ └── clarke.h │ │ └── source │ │ │ └── clarke.c │ ├── ipark │ │ ├── include │ │ │ └── ipark.h │ │ └── source │ │ │ └── ipark.c │ ├── park │ │ ├── include │ │ │ └── park.h │ │ └── source │ │ │ └── park.c │ └── svgen │ │ ├── include │ │ ├── svgen.h │ │ └── svgen_current.h │ │ └── source │ │ ├── svgen.c │ │ └── svgen_current.c └── utilities │ ├── angle_gen │ ├── include │ │ └── angle_gen.h │ └── source │ │ └── angle_gen.c │ ├── cpu_time │ ├── include │ │ └── cpu_time.h │ └── source │ │ └── cpu_time.c │ ├── datalog │ ├── include │ │ ├── datalog.h │ │ └── dlog_4ch_f.h │ └── source │ │ ├── datalog.c │ │ └── dlog_4ch_f.c │ ├── diagnostic │ ├── include │ │ └── graph.h │ └── source │ │ └── graph.c │ ├── math_blocks │ └── include │ │ ├── CLA_v1.0 │ │ ├── ACI_FE_CLA.h │ │ ├── ACI_FE_CONST_CLA.h │ │ ├── ACI_SE_CLA.h │ │ ├── ACI_SE_CONST_CLA.h │ │ ├── CLARKE_CLA.h │ │ ├── PARK_CLA.h │ │ ├── PI_CLA.h │ │ ├── RAMP_CTL_CLA.h │ │ ├── RAMP_GEN_CLA.h │ │ ├── SMOPOS_CLA.h │ │ ├── SMOPOS_CONST_CLA.h │ │ ├── SMO_CONST_CLA.h │ │ ├── SPEED_EST_CLA.h │ │ ├── SVGEN_CLA.h │ │ ├── VOLT_CALC_CLA.h │ │ └── iPARK_CLA.h │ │ └── math_blocks │ │ ├── aci_fe.h │ │ ├── aci_fe_const.h │ │ ├── aci_se.h │ │ ├── aci_se_const.h │ │ ├── angle_math.h │ │ ├── clarke.h │ │ ├── com_trig.h │ │ ├── cur_const.h │ │ ├── cur_mod.h │ │ ├── dmctype.h │ │ ├── impulse.h │ │ ├── ipark.h │ │ ├── mod6_cnt.h │ │ ├── park.h │ │ ├── pi.h │ │ ├── pi_reg4.h │ │ ├── pid_grando.h │ │ ├── pid_reg3.h │ │ ├── rampgen.h │ │ ├── readme.txt │ │ ├── resolver.h │ │ ├── rmp2cntl.h │ │ ├── rmp3cntl.h │ │ ├── rmp_cntl.h │ │ ├── sin_cos_table.h │ │ ├── smopos.h │ │ ├── smopos_const.h │ │ ├── speed_est.h │ │ ├── speed_fr.h │ │ ├── speed_pr.h │ │ ├── svgen.h │ │ ├── svgen_comm.h │ │ ├── svgen_dpwm.h │ │ ├── svgen_mf.h │ │ ├── vhzprof.h │ │ ├── volt_calc.h │ │ └── ~Docs │ │ └── DMC MATH_v13.1.pdf │ ├── queue │ ├── include │ │ └── queue.h │ └── source │ │ └── queue.c │ ├── traj │ ├── include │ │ └── traj.h │ └── source │ │ └── traj.c │ └── types │ └── include │ └── types.h ├── ram.sh ├── sender ├── g.nc ├── init.nc ├── init.sh ├── k.nc ├── loop.sh ├── overc.nc ├── overc.sh └── sender.sh ├── src ├── F2837xD_CodeStartBranch.asm ├── F2837xD_GlobalVariableDefs.c ├── adc_.c ├── adc_.h ├── bode.c ├── bode.h ├── cbuffer.c ├── cbuffer.h ├── cla1.c ├── cla1.h ├── cmdline.c ├── cmdline.h ├── dac_.c ├── dac_.h ├── device.c ├── eqep_.c ├── eqep_.h ├── events.c ├── events.h ├── everythings.c ├── everythings.h ├── fcl.c ├── fcl.h ├── gcode.c ├── gcode.h ├── leds.c ├── leds.h ├── linevoltage.c ├── linevoltage.h ├── log.c ├── log.h ├── main.c ├── overcurrent.c ├── overcurrent.h ├── parser.c ├── parser.h ├── pid_.c ├── pid_.h ├── position.c ├── position.h ├── pwm.c ├── pwm.h ├── ramper_.c ├── ramper_.h ├── schedule.c ├── schedule.h ├── scia.c ├── scia.h ├── sigmadelta.c ├── sigmadelta.h ├── sm.c ├── sm.h ├── stepdir.c ├── stepdir.h ├── swept.c ├── swept.h ├── systick.c ├── systick.h ├── ustdlib.c ├── ustdlib.h ├── wave.c ├── wave.h ├── wdog.c └── wdog.h ├── targetConfigs ├── TMS320F28379D.ccxml └── readme.txt └── user_files ├── 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