FOC

An implementation of Field Oriented Control algorithms in Rust, designed for use in embedded systems.

See gui for a real-world use of this crate as well as a GUI to tune the controller in real-time.

Goals

• Modular and extendable implementation of FOC algorithms.
• Exclusively use fixed-point math for all FOC calculations, using the fixed crate.
• Support for microcontrollers across the entire embedded Rust ecosystem.
• Support for microcontroller-specific accelerators (e.g. STM32G4/STM32H7 CORDIC peripheral for trig functions, STM32 FMAC peripheral for filters).
• Generic over angle sensors, current sensors, and PWM drivers.
• Straightforward to add custom algorithms.
• No heap allocations anywhere.