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https://github.com/teslabs/spinner
FOC Motor Control Firmware
https://github.com/teslabs/spinner
Last synced: 2 months ago
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FOC Motor Control Firmware
- Host: GitHub
- URL: https://github.com/teslabs/spinner
- Owner: teslabs
- License: apache-2.0
- Created: 2020-06-15T16:55:42.000Z (over 4 years ago)
- Default Branch: main
- Last Pushed: 2024-03-05T10:50:45.000Z (10 months ago)
- Last Synced: 2024-08-01T09:24:27.324Z (5 months ago)
- Language: C
- Homepage:
- Size: 6.18 MB
- Stars: 68
- Watchers: 9
- Forks: 13
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-zephyr-rtos - FOC Motor Control Firmware
- awesome-zephyr-rtos - spinner - Motor control firmware based on the Field Oriented Control (FOC) principles. (Libraries / Misc)
README
)
# Introduction
Spinner is a motor control firmware based on the Field Oriented Control (FOC)
principles. The firmware is built on top of the [Zephyr RTOS](https://zephyrproject.org),
a modern multi-platform RTOS. Spinner is still a proof of concept, so do not
expect production grade stability or features.
## Getting Started
Before getting started, make sure you have a proper Zephyr development
environment. You can follow the official
[Zephyr Getting Started Guide](https://docs.zephyrproject.org/latest/getting_started/index.html).
### Initialization
The first step is to initialize the `spinner` workspace folder where the
source and all Zephyr modules will be cloned. You can do that by running:
```shell
# initialize spinner workspace
west init -m https://github.com/teslabs/spinner --mr main spinner
# update modules
cd spinner
west update
```
### Build & Run
The application can be built by running:
```shell
west build -b $BOARD spinner [-- -DSHIELD=$SHIELD]
```
where `$BOARD` is the target board (see `boards`) and `$SHIELD` an optional
shield (see `boards/shields`). Some other build configurations are also provided:
- `debug.conf`: Enable debug-friendly build
- `shell.conf`: Enable shell facilities
They can be enabled by setting `OVERLAY_CONFIG`, e.g.
```shell
west build -b $BOARD spinner -- -DOVERLAY_CONFIG=debug.conf
```
Once you have built the application you can flash it by running:
```shell
west flash
```
## Documentation
The documentation is based on Sphinx. Doxygen is used to extract the API
docstrings, but its HTML output can also be used if preferred. A simple CMake
script is provided in order to facilitate the documentation build process. In
order to configure CMake you need to run:
```shell
cmake -Sdocs -Bbuild_docs
```
In order to build the Doxygen documentation you need to run:
```shell
cmake --build build_docs -t doxygen
```
Note that Doxygen output is required by Sphinx, so every time you change your
API docstrings, remember to run the `doxygen` target. In order to build the
Sphinx HTML documentation you need to run:
```shell
cmake --build build_docs -t html
```