Survey

Here are some embedded control system projects.

Motor Controllers

SimpleFOC

Simple framework based on Arduino that emphasize on simplicity. Motor is controled in a while loop that;

1. First acquires sensor data such as phase current from ADC or position/speed sensor.

2. Then caculates the PWM duty cycles.

3. Finally, applies the PWM duty cycles to each phase.

SimpleFOC code

ST Motor Workbench

Interrupt-based loops with sensor data acquired in the control loop.

The hardware is optimized for motor control, so the software can be simple.

ST motor control course: FOC library about interrupt

Spinner

Motor controller based on Zephyr as a proof of concept project.

For STM32 implementation (currently the only one available), it uses Zephyr’s Direct ISR for;

• Phase current sampling using ADC [1].

• Hall effect encoder using timer [2].

PWM duty cycle is calcuated and set in the current sampling loop [3].

References

• Spinner Documentation

• Spinner GitHub

[1]

Spinner current sampling source code

[2]

Spinner hall effect sensor source code

[3]

currsmp_configure() API reference that sets current regulation callback.

Vechicle Controllers

CogniPilot - Cerebri

Publisher/subscriber model.

GitHub: CogniPilot/cerebri

Flight Controllers

ArduPilot

ArduPilot code overview

PX4

Software architecture

3D Printers

Marlin

Code structure

Kilpper

Kilpper code overview

Zephyr projects

List of Zephyr applications and frameworks: awesome Zephyr

Popular Zephyr projects:

• ZMK Firmware

• ZSWatch