A General Embedded C Library and Motor Control Library

• Modular Design

  • Independently functional modules. Minimized dependencies/coupling of modules.
  • Hardware independent structure, using abstraction layers.
  • Generalized reusable C code.
  • OOP principles via encapsulation in C.
  • Follows good coding practices. E.g strong naming conventions, minimal code duplication, design principles/patterns, const correctness.

• Motor Library Features

  • FOC.
  • Sensors: Hall, Quadrature Encoder, Sine Cosine.
  • Speed and current feedback loop.
  • Layered implementation of control behaviors with code reuse.
  • Standard protocol for GUI side. Arduino-compatible wrapper.

• TODO

  • Encoder HFI align
  • Sensorless
  • Input Devices: 1-D, 2-D, Joystick.
  • Misra compliance

• Math - General math functions

• Motor - Motor Control Library

  • Motor - Functions and state information for the operation of a single unique motor.
  • MotorController - Functions and state information common to all motors, e.g. handling of communication, and user input/outputs.

• Peripheral - Peripheral abstraction layer. A common peripheral interface called by upper layers.

  • HAL - Hardware abstraction layer. Handling of hardware registers, per chip implementation.

• System - Common interface for system functions. Abstraction layer over some hardware dependencies.

• Transducers - Sensors and Actuators algorithms layer. Utilizes Peripheral layer.

• Utility - Software tools and algorithms independent of hardware.