# miniFOC
**Repository Path**: fengdaokanhai/miniFOC
## Basic Information
- **Project Name**: miniFOC
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No
## Statistics
- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-09-09
- **Last Updated**: 2025-09-09
## Categories & Tags
**Categories**: Uncategorized
**Tags**: None
## README
# miniFOC
This repository records my development of miniFOC. You can obtain the source files of the hardware and software in this repository.
## Introduction
This FOC driver board has three control mode, _Torque_, _Velocity_, _Angle_. You can control the motor accurately and smoothly using _**Voltage Control**_, because I haven't solved the _**Current Loop Control**_ problem.
Vofa+ can be used to control the motor conveniently. I also design a group of virtual keys to test the menu UI. You can find Vofa+ command configuration [vofa+.cmds.json](/Software/foc/vofa+.cmds.json) and [foc_debugger.tab.json](/Software/foc/foc_debugger.tab.json) that can assist you build up your debug platform quickly.
I have added a `Torque Ratchet Mode` under torque control. You can have a try.
> **NOTE:** `Software/foc/foc.ioc` is only used for configuration reference.
>
> **NOTE:** :heavy_exclamation_mark: The hardware design is immature, which has some line sequence mistakes.
You can check the pin set via [cubemx-settings](assets/cubemx-settings.png). Vofa+ debugger tab can also be found in [assets/vofaplus.png](assets/vofaplus.png).
miniFOC design(concept), HangX-Ma
FOC board and other components, HangX-Ma
> I will try to use sensor-less control strategy if the fundamental functions all perform well.
## Driver Parameters
| Item | Value |
| :---: | :---: |
| Input voltage range | 8 V ~ 40 V |
| Maximum current | 1.5 A |
| Serial port baud rate | 115200 |
| MCU | STM32F103C8T6, 64 KB flash, 20 KB RAM |
| OLED | SSD1306, 128 x 64, 7 wires SPI |
| Motor | 2808, KV900, 12 V|
## Environment
- **Serial Port Tool:** [Vofa+](https://www.vofa.plus/downloads/?v=7/17/2023)
- **OLED UI:** [WouoUI](https://github.com/RQNG/WouoUI), [uYanki/menu](https://github.com/uYanki/board-stm32f103rc-berial/tree/main/7.Example/hal/gui/u8g2/02_menu)
- **Dev Tools:** VSCode, CMake, OpenOCD, STLInk-v2, CMSIS-DAPv2, STM32CubeMX
- **Debugger:** Cortex-Debug
- **Library:** [u8g2](https://github.com/olikraus/u8g2), [Qfplib-M3](https://www.quinapalus.com/qfplib-m3.html)
## Features
- [x] Using space vector pulse width modulation
- [x] Torque control without current sensor
- [x] Rotational speed closed loop control
- [x] Rotation angle closed loop control
- [ ] Torque control with current sensor
- [x] Smooth UI that can be controlled by virtual keys currently via Vofa
## FOC Application
- _**Torque Normal Mode**_
Under torque control, you can set the `target torque` and `Kp` to adjust torque feedback force.
- _**Torque Ratchet Mode**_
Under torque control, the motor will act like a ratchet.
You can change `Kp` to adjust the stiffness.
- _**Torque Rebound Mode**_
Under torque control, the motor will rebound to the specific angle.
You can set the angle or change the rebound force by adjusting the `Kp` value.
- _**Torque Damp Mode**_
Under torque control, the motor will act like a knob with damp.
If you increase the `target torque` value, the damp will increase.
If you increase the `Kd` value, the knob will become smoother.
## Problem Found
- SPI output pins sequence needs to be `CS`, `SCLK`, `MISO`, `MOSI`.
- Magnetic attached to motor will affect the motor itself, my friend suggests me to use sensorless control strategy.
- More power ports need to be reserved, such as `GND`, `3V3`.
- SPI OLED ports sequence needs to be `GND`, `VCC`, `SCK`, `MOSI`, `RST`, `DC`, `CS`.
- `nFault` pin of the DRV8313 needs to be controlled and monitored by the MCU. Currently, only unplugging battery can release the DRV8313 off the fault state.
## Development Logs
### 2023-08-10
- Fix the problem caused by TIM3 configuration, which will lead to OLED abnormal display.
> I remove the `LL_TIM_CC_EnableChannel` function, which actually used in capture/compare mode! It is a coincidence that the OLED pins happened to be coincided with the configured channel.
- Change current sampling to three phases version.
- Move FOC state update in ADC1 DMA transfer complete interrupt. This will fit the current sampling demand and meet the inner ring frequency requirements.
- Current sensors are combined with a strange 100 Hz sine- wave noise. I cannot fix it currently.
Strange 100 Hz sine-wave current noise
, HangX-Ma
### 2023-08-06 to 2023-08-07
- Reconstruct GUI logic to support mult-level menu and motor app mode switch.
- Enhance the MainUI animation logic to follow the actual angle position.
- Add **Damp Mode**.
- Add damp feeling control for **Rebound Mode**
- Add _**High Pass Filter**_ but it is discarded afterwards because it filters out the useful information.
### 2023-08-05
- Update the voltage control with with current estimation and Back-EMF compensation. I take a reference to SimpleFOC, [Torque control using voltage](https://docs.simplefoc.com/voltage_torque_mode).
Voltage control with current estimation and Back-EMF compensation
, HangX-Ma
### 2023-08-01 to 2023-08-04
- Add OLED smooth menu UI and make control relationship between UI and motor. The motor information such that **Motor Control Mode**, **Motor State**, **Control Target**, **Shaft Velocity**, **Shaft Angle**. The animation in _MainUI_ will show you the state of motor!
### 2023-07-31
- Find a project procedure problem that you must reconfirm the encoder direction if you reassemble your hardware.
- Only low speed mode can support the motor position rebound test. Otherwise, the motor will be damaged.
> :sob: My motor seems to be damaged. (Update: It recovered!)
- Replace the PWMA current sensor and the current loop start to work.
> I finally only give Q and D with Kp = 0.6 and make the current loop work. But actually current loop version performs not as good as non current loop version.
- Torque needs to be greater than 0.6 under current loop control.
- Add ratchet mode under torque control.
### 2023-07-30
- Add current sense monitor feedback, thus, creating a current control loop.
> :x: Current phase sequence is necessary to be identified. I haven't solve the it. Motor can not work when current feedback added.
- Add _Torque Control_ part, reconstruct the control logic and delete some abundant codes.
### 2023-07-29
- Add velocity control loop and fix the jitter problem.
- Add position control loop.
- Add motion switch function and fix the motor jump problem when control type switches.
- Remove integral part in _Angle Control_. Only proportional part is left.
> :heavy_exclamation_mark: Integral part actually causes serious overshoot problem and affects the system response speed.
### 2023-07-28
- Attach the magnetic with shaft sleeve, sticking it on the shaft.
- Remake an encoder board because previous one seems to be damaged.
- Ensure the UVW sequence of the Motor.
- [Pass TEST3]: Open loop position control test passes.
- Add `printf` redirection code.
- Add sensor alignment code: Identify the sensor direction, pole pairs and calculate the zero electrical angle offset.
> The code will be trapped into a rabbit hole if the motor rotates not fluently. So check the serial output first!
### 2023-07-26
- Add OLED menu base code.
### 2023-07-25
- INA199x1 has been configured successfully. I use TIM3 to generate update event to trigger ADC1 to start multi-channel conversion. The conversion result will be carried by DMA and send to specific address.
- Add `get_RS_current` function that can conveniently return the rotor and stator current (Id and Iq). I also write a test code for it.
### 2023-07-24
- SC60228DC magnetic encoder works well. I brought _5 mm x 2 mm (d x h)_ magnetic but can not stick it to the motor bearing using hot-melt adhesive. I will use AB glue instead.
> Waiting for essential materials again~
### 2023-07-23
- Add SVPWM control module and change PWM to center aligned mode.
- [Pass TEST2]: SVPWM control test passes.
### 2023-07-22
- [Pass TEST1]: Direct given PWM can successfully drive BLDC motor.
- Fix transmission error of SPI2, which is linked to magnetic encoder. But I forget to buy the magnetic, so fully check hasn't been done.
### 2023-07-21
- Add [u8g2](https://github.com/olikraus/u8g2) OLED library and add OLED demo code.
>
> - :x: OLED can not display normally, which needs further checking.
> - :heavy_check_mark: Remove SPI1 DMA and the SPI OLED can display normally using u8g2.
- Reconstruct PWMx configurations and merges it into BLDC configurations.
- Add BLDC motor tests for checking different BLDC motor working conditions.
- Add USART control to start or stop BLDC motor.
- Driver board has been prepared.
### 2023-07-19
- Add [Qfplib-M3](https://www.quinapalus.com/qfplib-m3.html) float-point library and it works well!
> I use cortex-debug plugin and it shows that Qfplib-M3 is visibly faster than software float-point calculation.
- Add Vofa+ communication protocol and configure USART1.
>
> - :question: Cough... It seems that my CH340 serial communication device breaks down. Need further checking.
> - :heavy_check_mark: I use logic analyzer to capture output of _**PB6(Tx)**_ and it actually gives me different waveforms, which means that the CH340 is actually broken.
### 2023-07-18
- Change SPI mode to **(Receive Only Master)** and finish the SC60228DC software logic.
> Use OOP concept to write SC60228DC, use method in `g_encoder` can satisfy the user's need.
### 2023-07-17
- :book: Create a mind map about _miniFOC_ design.
- :rocket: Finish the board design but haven't check the details. Prepare for further checking and BOM selections.
> :heavy_check_mark: BOM and board have been checked. Waiting for all materials to arrive.
- Remove `TIM1_CH1N`, `TIM1_CH2N`, `TIM1_CH3N` settings， because they are not used in this driver.
### 2023-07-15
- :x: I tried to use proteus 8.15 to develop the software using online simulation, but the NMOS in proteus performed abnormally. I will use **Logic Analyzer** instead and design the modular board.
## License
Apache License Version 2