Custom Inverter Firmware

This repository contains the maintained firmware and host-side tooling for a custom inverter platform built around TI C2000 F28379D-class devices.

The repository currently has two primary outcomes:

Project	Purpose	Main entry point
main-motor-control/main_musical_motor_teknik	Musical motor firmware that turns the motor into an audio/tone output device with UART control	sources/main_musical_motor_teknik.c
main-motor-control/main_foc_endat_system	Field-oriented control firmware with EnDat position feedback and a documented HAL/control architecture	sources/dual_axis_servo_drive.c

If you are new to the repo, start with the project that matches your goal, then read ORGANIZATION.md for the full layout.

Primary Projects

main_musical_motor_teknik

This is the main musical motor application.

• Boots the board, initializes PWM/timer resources, and runs a tone engine.
• Accepts UART commands for song selection, manual tones, stop/pause/resume, and volume.
• Keeps melody data, tone synthesis, hardware setup, and UART transport separated into focused modules.
• Includes a dedicated architecture note in doc/main_musical_motor_teknik_tone_generation.md.

Key files:

• sources/main_musical_motor_teknik.c
• sources/musical_motor_tone.c
• sources/musical_motor_songs.c
• sources/musical_motor_hw.c
• sources/uart_link.c
• include/musical_motor/

main_foc_endat_system

This is the main FOC + EnDat control-system project.

• Runs an interrupt-driven motor-control application with a documented HAL layer.
• Uses an EnDat producer/consumer runtime for absolute position feedback.
• Includes project-local copies of the required headers, libraries, and support files for standalone CCS import.
• Ships with detailed project docs for control flow, HAL ownership, EnDat runtime behavior, and calibration.

Key files:

• sources/dual_axis_servo_drive.c
• sources/dual_axis_servo_drive_hal.c
• sources/dual_axis_servo_drive_user.c
• sources/endat/
• doc/HAL_ARCHITECTURE.md
• doc/ENDAT_ARCHITECTURE.md
• doc/CONTROL_ALGORITHM_ARCHITECTURE.md

Important note: The project folder is main_foc_endat_system, but several source files still use the inherited dual_axis_servo_drive* naming from the TI reference base. That naming is expected in the current tree.

Repository Layout

custom_inverter_fw/
├── README.md
├── ORGANIZATION.md
├── main-motor-control/
│   ├── main_musical_motor_teknik/
│   ├── main_foc_endat_system/
│   ├── main_foc_teknik/
│   └── frontend/
├── example/
├── setup.sh
└── standalone_project_structure.svg

Supporting Areas

• main-motor-control/frontend/
  • Host-side UART scripts and the xbox-controller dashboard/CLI tooling.
• main-motor-control/main_foc_teknik/
  • A related CCS project variant.
• example/
  • Reference and bring-up projects kept for comparison, migration, and experimentation.

Working With the CCS Projects

Both primary firmware projects are structured as standalone CCS projects with the same general layout:

• sources/ for application code
• include/ for project headers and vendored SDK headers
• src_device/ for startup and linker files
• src_driver/ for driverlib source wrappers
• lib/ for required prebuilt libraries
• doc/ for project-specific architecture notes
• script/ for helper scripts
• targetConfigs/ for CCS target configurations

Generated build folders such as F2837x_RAM/, F2837x_FLASH/, and debug/ are local outputs, not the source of truth.

Getting Started

For day-to-day development, you typically do not need the TI SDK installed because the primary projects vendor the files they depend on.

1. Install Code Composer Studio.
2. In CCS, go to File -> Import -> CCS Projects.
3. Choose one or both of these directories:
   • main-motor-control/main_musical_motor_teknik
   • main-motor-control/main_foc_endat_system
4. Import the discovered projects.
5. Build using either:
   • F2837x_RAM for debug-oriented runs
   • F2837x_FLASH for flash/deployment builds

Host-Side Tools

The main host/operator tooling lives in main-motor-control/frontend/xbox-controller.

That area provides:

• a CLI for driving the MCU over UART
• a local dashboard server
• a React frontend for runtime inspection and control
• tests for UART framing, runtime behavior, and dashboard APIs

See main-motor-control/frontend/xbox-controller/README.md for usage and setup.

Maintainer Workflow

Both primary firmware projects use a vendored-dependency approach. Their script/make_standalone.sh scripts are used when you intentionally want to refresh project-local files from a TI SDK installation.

Relevant scripts:

• main-motor-control/main_musical_motor_teknik/script/make_standalone.sh
• main-motor-control/main_foc_endat_system/script/make_standalone.sh

That workflow is for maintainers updating vendored source, headers, or libraries, not for normal editing and builds.

Documentation Pointers

• Repository layout and ownership rules: ORGANIZATION.md
• Musical tone-generation path:
  • main-motor-control/main_musical_motor_teknik/doc/main_musical_motor_teknik_tone_generation.md
• FOC control architecture:
  • main-motor-control/main_foc_endat_system/doc/CONTROL_ALGORITHM_ARCHITECTURE.md
• FOC HAL architecture:
  • main-motor-control/main_foc_endat_system/doc/HAL_ARCHITECTURE.md
• EnDat runtime architecture:
  • main-motor-control/main_foc_endat_system/doc/ENDAT_ARCHITECTURE.md

Dependencies

• Code Composer Studio (CCS)
• TI C2000 / F28379D-compatible target hardware
• Original vendored SDK baseline: C2000Ware_MotorControl_SDK_5_04_00_00

References

• TI C2000Ware
• TI C2000Ware MotorControl SDK
• TI Code Composer Studio