TunePulse Firmware based on Rust

TunePulse is an upcoming open-source firmware designed to

• control a wide range of motors (DC, STEPPERS, BLDC, PMSM, LINEAR)
• across various control modes (CLOSED-LOOP, FOC, POSITION, SPEED, TORQUE, etc.)
• featuring compatibility with multiple interfaces (STEP-DIR, UART, I2C, CAN/CAN-FD, USB)
• and support for various protocols (GCODE, KLIPPER, etc.).

Its primary goal is to advance the development of closed-loop systems and simplify their integration into existing systems.

Note: This firmware is under heavy development and currently has no documentation. For more information, join the creapunk community Discord.

Progress

• ☑️ PID controller with a FeedForward component (integer and float implementations)
• ☑️ Integer math LPF filter + variation for handling transitions through zero
• ☑️ Encoder coordinate system with zero-crossing handling and full rotation counting
• ☑️ Calculation of motor instantaneous speed using a circular buffer
• ☑️ Normalization of ADC input channels relative to vref
• ☑️ Calculation of supply voltage with filtering
• ☑️ Motor type selection algorithm via selector
  • ☑️ DC motor
  • ☑️ Stepper motor
  • ☑️ BLDC motor (SVPWM, limiting when supply voltage is insufficient)
• ☑️ Phase commutation algorithm according to pattern
• ☑️ Fast sine/cosine via lookup table