Spinner Documentation

Welcome to the Spinner’s documentation! 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.

Some of the offered features are:

• FOC based current control loop

• Driver APIs for:

  • Current sampling

  • SV-PWM

  • Feedbacks (e.g. Halls)

These documentation pages contain architecture details of the Spinner firmware as well as some driver implementation details.