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ChibiOS_3.0.2
ChibiOS_3.0.2
 
 
appconf
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applications
applications
 
 
build
build
 
 
build_all
build_all
 
 
hwconf
hwconf
 
 
mcconf
mcconf
 
 
nrf
nrf
 
 
.gitignore
.gitignore
 
 
CHANGELOG
CHANGELOG
 
 
CONTRIBUTING
CONTRIBUTING
 
 
Makefile
Makefile
 
 
README.md
README.md
 
 
board.c
board.c
 
 
board.h
board.h
 
 
buffer.c
buffer.c
 
 
buffer.h
buffer.h
 
 
chconf.h
chconf.h
 
 
comm_can.c
comm_can.c
 
 
comm_can.h
comm_can.h
 
 
comm_usb.c
comm_usb.c
 
 
comm_usb.h
comm_usb.h
 
 
comm_usb_serial.c
comm_usb_serial.c
 
 
comm_usb_serial.h
comm_usb_serial.h
 
 
commands.c
commands.c
 
 
commands.h
commands.h
 
 
conf_general.c
conf_general.c
 
 
conf_general.h
conf_general.h
 
 
crc.c
crc.c
 
 
crc.h
crc.h
 
 
datatypes.h
datatypes.h
 
 
digital_filter.c
digital_filter.c
 
 
digital_filter.h
digital_filter.h
 
 
eeprom.c
eeprom.c
 
 
eeprom.h
eeprom.h
 
 
encoder.c
encoder.c
 
 
encoder.h
encoder.h
 
 
flash_helper.c
flash_helper.c
 
 
flash_helper.h
flash_helper.h
 
 
halconf.h
halconf.h
 
 
irq_handlers.c
irq_handlers.c
 
 
isr_vector_table.h
isr_vector_table.h
 
 
ld_eeprom_emu.ld
ld_eeprom_emu.ld
 
 
led_external.c
led_external.c
 
 
led_external.h
led_external.h
 
 
ledpwm.c
ledpwm.c
 
 
ledpwm.h
ledpwm.h
 
 
main.c
main.c
 
 
mc_interface.c
mc_interface.c
 
 
mc_interface.h
mc_interface.h
 
 
mcpwm.c
mcpwm.c
 
 
mcpwm.h
mcpwm.h
 
 
mcpwm_foc.c
mcpwm_foc.c
 
 
mcpwm_foc.h
mcpwm_foc.h
 
 
mcuconf.h
mcuconf.h
 
 
packet.c
packet.c
 
 
packet.h
packet.h
 
 
servo.c
servo.c
 
 
servo.h
servo.h
 
 
servo_dec.c
servo_dec.c
 
 
servo_dec.h
servo_dec.h
 
 
servo_simple.c
servo_simple.c
 
 
servo_simple.h
servo_simple.h
 
 
stm32-bv_openocd.cfg
stm32-bv_openocd.cfg
 
 
stm32f4xx_conf.h
stm32f4xx_conf.h
 
 
terminal.c
terminal.c
 
 
terminal.h
terminal.h
 
 
timeout.c
timeout.c
 
 
timeout.h
timeout.h
 
 
utils.c
utils.c
 
 
utils.h
utils.h
 
 
ws2811.c
ws2811.c
 
 
ws2811.h
ws2811.h
 
 

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We are working on an updated/modified version of original firmware for the VESC (based on FW3.33).

Key functions

#1 Multi-turn posistion control (controlling motor position over multiple encoder turns, for example 0-2160Degress)

#2 Removed shortest route rotation -+180 degress

future work:

#1 Looking on how to implement a cascaded style position, velocity and current control loop. The idea was previously tested on our simulator for cascaded position and speed control (http://grauonline.de/alexwww/motorsim/motorsim.html)

This is the source code for the VESC DC/BLDC/FOC controller. Read more at
http://vesc-project.com/

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Firmware for the VESC motor controller with modifications for multi-turn position control

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