This project demonstrates a complete, low-level implementation of Field-Oriented Control (FOC) for controlling a BLDC motor using an STM32F4 microcontroller, without relying on high-level motor control libraries.
Built using PlatformIO, STM32 HAL/LL drivers, and FreeRTOS, this project is designed for learning and practical experimentation in precision motor control.
- Clarke & Park Transforms
- Position feedback via AS5047 encoder
- Phase current sampling via ADC
- PI current controller
- SVPWM (Space Vector PWM) generation
- USB CDC interface for real-time tuning
- Interrupt-driven timing and FreeRTOS tasking
- PlatformIO
- STM32CubeMX
- STM32Cube HAL & LL Drivers
- FreeRTOS (via PlatformIO package)
- VS Code + Serial Monitor for debugging
- Altium Designer (for Hardware) you can see in STM32-FOC-hardware.zip
- ACTUATOR CONTROL APP in controller_app.zip
9-8-2025
- Add eccentricity calibration for magnetic encoder
- CLI for auto calibration
- Change PID manual tuning settings
- Save configuration to flash memory
- Default config
29-7-2025
- Add parity check for AS5047P