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)
• Operate across various control modes (CLOSED-LOOP, FOC, POSITION, SPEED, TORQUE, etc.)
• Feature compatibility with multiple interfaces (STEP-DIR, UART, I2C, CAN/CAN-FD, USB)
• Support various protocols (GCODE, KLIPPER, etc.)

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

Note: This firmware is under active development and currently lacks documentation. For more information, join the Creapunk community on Discord.

---

Getting Started

To get started with TunePulse, ensure you have the required Rust tools installed:

rustup target add thumbv7em-none-eabihf
cargo install flip-link

For additional setup instructions, see the Probe.rs Installation Guide and Probe Setup Guide.

1. Connect the ST-Link port to your computer and run the updater downloaded from the official ST-Link website.
2. Plug the controller into the programmer's single port and flash the blink example for testing:

cargo flash --release --package blink --chip STM32G431CBTx

After flashing, the controller should cycle through the Red, Green, and Blue LEDs.

Optional: Install the Probe.rs Debugger extension for VSCode.

---

Flashing

1. Connect your computer to the ST-Link port on the programmer.
2. Connect the controller to the programmer's single port.
3. Run the following command to flash the firmware:

cargo run --package blink

---

Progress

Algorithms

• ☑️ PID controller with a FeedForward component (integer and floating-point implementations)
• ☑️ Integer-math LPF filter with a variant for handling zero-crossing transitions
• ☑️ 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 with limiting for insufficient supply voltage)
• ☑️ Phase commutation algorithm based on a predefined pattern
• ☑️ Fast sine/cosine calculation via lookup table

Drivers

• ☑️ PWM center-aligned timer
• ☑️ Encoder readings with DMA
• ☐ ADC voltage and current readings with DMA