This WIP sample is an FoC vector control in voltage mode sample app to be used in RT-Thread, it should be compatible with any platform that have a 3-PWM output plus an I2C sensor for encoder reading.

To run this sample you need any hardware that has an L6234 BLDC motor driver IC, one recomendation is the STMicro IHM07M1 development board: https://www.st.com/en/ecosystems/x-nucleo-ihm07m1.html

Just wire the motor to the Bridge output plus the I2C encoder sensor to the MCU I2C ports, also wire your target MCU 3-PWM output to the 3-PWM inputs of the devboard / driver. Note don't forget tying the EN inputs of L6234 to the VCC to allow the bridge to work.

To run this sample you must install the RT-thread correctly, just pick your flavour, I preferred the manual way by cloning the repository direct and by doing the setup.

After that just pick your favorite BSP that supports PWM plus I2C device drivers, go to bsp/<your_platform>/<board>/ , and inside of the folder, just replace the applications folder with this directory, the SConscript file will find this directory automagically.

Just do the build command as any regular RT-Thread application:

$ scons --menuconfig       # configure rt-thread as the first time and installs env tool
$ source ~/.env/env.sh     # prepare envtool 
$ pkgs --update            # This may be required depending of the BSP. e.g. NRF devices
$ scons                    # this will build the application

The build process will produce .elf and .bin files, the first one can be used along your debug probe (like jlink or cmsis-dap) to debug the code. The later you can flash direct to your target flash. The motor should start immediately with slow velocity command.

Please mind this is an experimental project and have no guarantees of proper work, in any case I will be glad to help you putting the motor to spin. reach me out at: [email protected]