espFoC: Vector FoC controller for PMSM motors for ESP32 SoCs

espFoC is a simple implementation of voltage mode, vector controller intended to be used with permanent-magnet synchronous motors (PMSM), and general brushless motors. This component was developed to be used with the ESP-IDF espressif framework.

Features:

• Voltage mode control, control a PMSM like a DC motor!;
• Position and Speed closed-loop control;
• Single-precision Floating point implementation;
• Sample inverter driver based on esp32 LEDC PWM (easy to wire!);
• Sample rotor position driver based on as5600 encoder (very popular!);
• FoC engine runs sychronized at inverter PWM rate;
• Scope function for debugging using Better Serial Plot

Limitations:

• Support for esp32 and esp32s3 only;
• Requires and rotor position sensor, for example, incremental encoder.

Getting started:

• Just clone this project on most convenient folder;
• Inside of your IDF project CMakeLists.txt set or add the path of this component to EXTRA_COMPONENT_DIRS for example: set(EXTRA_COMPONENT_DIRS "path/to/this/component/")
• For batteries included getting started, refer the examples folder.
• Inside of any of examples just build: $ idf.py build flash

Typical wiring:

• espFoC is intended to run on ESP32 board plus a motor driver;
• The current driver supports 3-PWM output suited to: L6230, DRV83xx and others;
• The suggested wiring for quick get started is shown below:

Debug with Better Serial Plot:

• Install Better Serial Plot from here: https://hackaday.io/project/181686-better-serial-plotter
• In menuconfing enable the option: CONFIG_ESP_FOC_SCOPE
• Download the firmware for your target board;
• Open the Better Serial Port and select the port and baud rate of your board;
• The data should arrive automatically.

Support:

If you find some trouble, open an issue, and if you are enjoying the project give it a star or submir a PR. Also, you can try reaching me at: ryukokki.felipe@gmail.com