The BionX motor has originally a built-in controller. This project aims to replace embedde electronics by an external controller. Regular 24V controller with square waves doesn't provide good enough results, this is a new attempt with a FOC implementation.
3 phases output,
3 hall sensors input,
One Shunt current measurement,
Interface for S866 Display.
PAS input,
Brake input
Core code is generated thanks to ST micro graphical tools. (X-CUBE-MCSDK) then adapted to STM32F103C8Tx
STM32 module MOSFET module Main pcb S866 display
STM32CubeIDE
STM32 MC SDK (motor control software development kit) : Gived up (Did not work for me)