# foc_controller

**Repository Path**: mymcu/foc_controller

## Basic Information

- **Project Name**: foc_controller
- **Description**: 电机控制器，带c语言的s-function simulink仿真。除了BSP外，仿真代码和mcu上运行的代码完全一致。
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 19
- **Created**: 2025-11-16
- **Last Updated**: 2025-11-16

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# foc_controller

FOC Firmware based on STM32F4

## Project Overview

This is a Field-Oriented Control (FOC) firmware project designed for STM32F4-series microcontrollers, featuring complete motor control logic, a hardware abstraction layer, and a communication protocol stack. The project supports USB communication and includes Simulink integration support.

## Directory Structure

```
motor_controller/
├── Firmware/         - Core firmware code
│   ├── app/          - Application layer code
│   ├── bsp/          - Board Support Package (hardware drivers)
│   ├── controller/   - FOC control algorithm implementation
│   ├── drivers/      - STM32F4 HAL drivers and CMSIS core files
│   ├── os/           - Real-time operating system support
│   ├── protocols/    - Communication protocol implementation
│   └── utils/        - Utility functions
├── Projects/         - Project files (e.g., Keil uVision)
├── Simulink/         - Simulink models and simulation support
└── simulation/       - Simulation-related code
```

## Key Features

- Field-Oriented Control (FOC) based on SVPWM
- Current loop control
- Low-pass filter implementation
- USB virtual serial port communication support
- Real-time operating system support (task scheduling, timers, etc.)
- Serial communication protocol with data encoding/decoding
- Motor control command handling (start/stop, mode switching, parameter configuration, etc.)

## Dependencies

- STM32F4xx HAL Library
- CMSIS Core Files
- USB Device Library
- Real-time Operating System (lightweight custom implementation)

## Build and Deployment

1. Open the project file (`Projects/odrive_mks.uvprojx`) in Keil uVision.
2. Configure target hardware settings.
3. Compile and download to the STM32F4 target board.
4. Communicate and debug via USB connection.

## Communication Protocol

A custom binary protocol is implemented over USB, supporting the following commands:
- Motor start/stop
- Control mode switching
- Setting voltage/current target values
- Forcing open-loop operation
- Data acquisition and waveform visualization

## Simulation Support

The project includes Simulink integration for algorithm verification and debugging:
- Motor model simulation
- PWM signal generation
- ADC sampling simulation
- Encoder signal simulation

## License

This project is licensed under the MIT License — see the LICENSE file for details.

## Contributions

Pull requests are welcome. For major changes, please open an issue first to discuss.

## Author

Kevin Huhui

## Acknowledgments

- STM32F4 HAL drivers and CMSIS files from ST's official library
- USB device library from STM32 USB Device Library
- Some code structure inspired by the open-source project ODrive