Introduction

Spinner is a motor control firmware based on the Field Oriented Control (FOC) principles. The firmware is built on top of the Zephyr RTOS, a modern multi-platform RTOS. Spinner is still a proof of concept, so do not expect production grade stability or features.

Getting Started

Before getting started, make sure you have a proper Zephyr development environment. You can follow the official Zephyr Getting Started Guide.

Initialization

The first step is to initialize the spinner workspace folder where the source and all Zephyr modules will be cloned. You can do that by running:

# initialize spinner workspace
west init -m https://github.com/teslabs/spinner --mr main spinner
# update modules
cd spinner
west update

Build & Run

The application can be built by running:

west build -b $BOARD spinner [-- -DSHIELD=$SHIELD]

where $BOARD is the target board (see boards) and $SHIELD an optional shield (see boards/shields). Some other build configurations are also provided:

• debug.conf: Enable debug-friendly build
• shell.conf: Enable shell facilities

They can be enabled by setting OVERLAY_CONFIG, e.g.

west build -b $BOARD spinner -- -DOVERLAY_CONFIG=debug.conf

Once you have built the application you can flash it by running:

west flash

Documentation

The documentation is based on Sphinx. Doxygen is used to extract the API docstrings, but its HTML output can also be used if preferred. A simple CMake script is provided in order to facilitate the documentation build process. In order to configure CMake you need to run:

cmake -Sdocs -Bbuild_docs

In order to build the Doxygen documentation you need to run:

cmake --build build_docs -t doxygen

Note that Doxygen output is required by Sphinx, so every time you change your API docstrings, remember to run the doxygen target. In order to build the Sphinx HTML documentation you need to run:

cmake --build build_docs -t html