# TinFOC: a Rust-y Field-Oriented Control crate for STM32 MCUs

A crate that provides an
[FOC](https://www.st.com/en/applications/industrial-motor-control/3-phase-field-oriented-control-foc.html)
motor controller using STM32 Cortex microcontrollers.

## Dependencies

The MCU I'm using is the
[STM32F302R8](https://www.st.com/en/microcontrollers-microprocessors/stm32f302r8.html), and I'm
using the [X-Nucleo IHM07M1](https://www.st.com/en/ecosystems/x-nucleo-ihm07m1.html) BLDC motor
controller shield board that provides the actual power to the motor.

This requires the `thumbv7em-none-eabihf` Rust target:

``` console
rustup target add thumbv7em-none-eabihf
```

In order to connect to the microcontroller with a debugger (say, to load the program) on Ubuntu
linux, you'll need to:

``` console
sudo apt install openocd gdb-multiarch
```


## Running on hardware

Assuming you've plugged your board into your computer via USB:

1. build TinFOC with `cargo build`
2. connect to the board with `openocd &`
3. start gdb: `gdb-multiarch -q target/thumbv7em-none-eabihf/debug/tinfoc`
4. inside gdb, attach to openocd: `target remote :3333`
5. inside gdb, load the program into the MCU's flash: `load`

Assuming that was successful, you can then enter `continue` in the gdb console, which will run the
program on the hardware; you should see the `LD2` LED start blinking green, on and off, every 2
seconds. If you disconnect the board from power and then reconnect, it will automatically run the
program.

There are no doubt other ways to flash the board, and I'll update here when I adjust my flow; I'm a
newb when it comes to this stuff.