Survey

Here are some projects that can be referenced for designing an embedded control system.

Motor Controllers

SimpleFOC

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

First acquires sensor data such as phase current from ADC or position/speed sensor.
Then caculates the PWM duty cycles.
Finally, applies the PWM duty cycles to each phase.

References

SimpleFOC code

ST Motor Workbench

Hardware timer-driven system where time-critical tasks are executed in ISRs and utilizes Cortex-M’s NVIC to have preemptible interrupts with priorities. Since the hardware is optimized for motor control (specialized timer for three phase PWM), so the software can be simple.

References

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

Vechicle Controllers

CogniPilot - Cerebri

Vehicle management unit based on Zephyr for autonomous vehicles.

It is publisher / subscriber model similar to ROS.

References

GitHub: CogniPilot/cerebri

Flight Controllers

ArduPilot

ArduPilot Architecture

References

ArduPilot code overview

PX4

PX4 Architecture

References

Software architecture

3D Printers

Marlin

Kilpper

Kilpper code overview

Other Zephyr projects

List of Zephyr applications and frameworks: awesome Zephyr

Some popular Zephyr projects: