One year ago, I have developped a very fist revision of a custom FOC firmware on the B-G431B-ESC Discovery Kit. The code has been improved and a new firmware revision (V2) will be released soon.

The firmware is tested with a 8108 and a 5008 bruhsless motors. The AS5048A (PWM input) and the AS5600 (I2C) are also tested.

List of improvements :

• 40KHz PWM with CSVPWM
• 40KHz FOC loop
  • Current limiter
• 4KHz position and velocity control loop
  • Dynamic change of KP and KD when torque enable 
  • Min/max position limiter
  • Maximum velocity limiter
• Thermal protection
• Low voltage protection

A field-weakeming algorithm has been tested, but it will not be in the next release. The ESC is able to spin the motors at their base speed (Kv*Vdc). I think there is no need to spin faster for a hobby robotic application at the moment.

Patrick.