Motor control software targetting the STSPIN32F0A, written in Rust. It's designed to run on the STEVAL-ESC002V1 eval board, which is sold by ST for around $30 USD.
It's very simple: it performs open-loop commutation with an acceleration limit, and takes speed commands via the serial port on J2. There are a few parameters to control power output and acceleration, which can also be adjusted via serial commands.
It's designed for driving a spincoater with sensorless quadcopter motors. For lower speeds, BEMF sensing doesn't work, so we need open-loop startup anyway. For the spin-coater, it may operate at speeds too low to reliably do BEMF sensing and the load is small and consistent so open loop control is both simple and effective. Drive duty cycle has two modes: an accelerating voltage and a lower hold voltage.
cargo build to compile.
cargo run to program flash and launch in gdb via openocd.
Control is performed by sending binary serial messages to the MCU via the serial port on J2. The
main message is an RPM command, but there are also messages for adjusting some control parameters on
the fly. A simple python script is provided in cmd.py for sending serial commands to the device.
This project was initially created to be used with this spincoater controller.
This eval board does not come with a USB port or any built in debugger, so it needs to be programmed via the SWD connector (J1), or via the serial bootloader on J3. A mating connector for J1 is provided with the board. You'll need a programmer, like an STLinkV2 or similar to program via SWD. If you are considering programming this, you probably already know all of this!