2024-05-02 23:07:19 +00:00
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# TinFOC: a Rust-y Field-Oriented Control crate for STM32 MCUs
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A crate that provides an
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[FOC](https://www.st.com/en/applications/industrial-motor-control/3-phase-field-oriented-control-foc.html)
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motor controller using STM32 Cortex microcontrollers.
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## Dependencies
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The MCU I'm using is the
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[STM32F302R8](https://www.st.com/en/microcontrollers-microprocessors/stm32f302r8.html), and I'm
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2024-05-02 23:10:49 +00:00
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using the [X-Nucleo IHM07M1](https://www.st.com/en/ecosystems/x-nucleo-ihm07m1.html) BLDC motor
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controller shield board that provides the actual power to the motor.
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2024-05-02 23:07:19 +00:00
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This requires the `thumbv7em-none-eabihf` Rust target:
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``` console
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rustup target add thumbv7em-none-eabihf
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```
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In order to connect to the microcontroller with a debugger (say, to load the program) on Ubuntu
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linux, you'll need to:
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``` console
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sudo apt install openocd gdb-multiarch
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```
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## Running on hardware
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Assuming you've plugged your board into your computer via USB:
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1. build TinFOC with `cargo build`
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2. connect to the board with `openocd &`
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3. start gdb: `gdb-multiarch -q target/thumbv7em-none-eabihf/debug/tinfoc`
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4. inside gdb, attach to openocd: `target remote :3333`
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5. inside gdb, load the program into the MCU's flash: `load`
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Assuming that was successful, you can then enter `continue` in the gdb console, which will run the
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program on the hardware; you should see the `LD2` LED start blinking green, on and off, every 2
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seconds. If you disconnect the board from power and then reconnect, it will automatically run the
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program.
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There are no doubt other ways to flash the board, and I'll update here when I adjust my flow; I'm a
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newb when it comes to this stuff.
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