Наведение порядков

1. Убрал лишние скругления, поверхности и элементы построения из каждой детали.
2. Избавился от дубликатов деталей.
3. Изменил структуру файлов и папок
4. Изменил описание папок.

controller/fw/embed/src/main.cpp

@@ -0,0 +1,121 @@
+// clang-format off
+#include <Arduino.h>
+#include <SimpleFOC.h>
+#include <STM32_CAN.h>
+#include <AS5045.h>
+#include <DRV8313.h>
+#include "hal_conf_extra.h"
+// clang-format on
+
+STM32_CAN Can(CAN2, DEF);
+
+static CAN_message_t CAN_TX_msg;
+static CAN_message_t CAN_inMsg;
+
+SPIClass spi;
+MagneticSensorAS5045 sensor(AS5045_CS, AS5045_MOSI, AS5045_MISO, AS5045_SCLK);
+
+BLDCMotor motor(POLE_PAIRS);
+
+DRV8313Driver driver(TIM1_CH1, TIM1_CH2, TIM1_CH3, EN_W_GATE_DRIVER,
+                     EN_U_GATE_DRIVER, EN_V_GATE_DRIVER, SLEEP_DRIVER,
+                     RESET_DRIVER, FAULT_DRIVER);
+LowsideCurrentSense current_sense(0.0125, 20, CURRENT_SENSOR_1, CURRENT_SENSOR_2,
+                                  CURRENT_SENSOR_3);
+
+Commander command(Serial);
+
+void doMotor(char *cmd) {
+    command.motor(&motor, cmd);
+    digitalWrite(PC10, !digitalRead(PC10));
+    delayMicroseconds(2);
+}
+
+void setup_foc(MagneticSensorAS5045 *sensor, BLDCMotor *motor, DRV8313Driver *driver,
+               LowsideCurrentSense *current_sense, Commander *commander,
+               CommandCallback callback) {
+    sensor->init(&spi);
+    motor->linkSensor(sensor);
+    driver->pwm_frequency = 20000;
+    driver->voltage_power_supply = 20;
+    driver->voltage_limit = 40;
+    driver->init();
+    motor->linkDriver(driver);
+    current_sense->linkDriver(driver);
+    current_sense->init();
+    motor->linkCurrentSense(current_sense);
+    SimpleFOCDebug::enable(nullptr);
+    commander->add('M', callback, "motor");
+    motor->useMonitoring(Serial);
+    motor->monitor_start_char = 'M';
+    motor->monitor_end_char = 'M';
+    commander->verbose = VerboseMode::machine_readable;
+    motor->controller = MotionControlType::angle;
+    motor->torque_controller = TorqueControlType::voltage;
+    motor->foc_modulation = FOCModulationType::SinePWM;
+    motor->PID_velocity.P = 0.3;
+    motor->PID_velocity.I = 15;
+    motor->PID_velocity.D = 0.001;
+    motor->PID_velocity.output_ramp = 1000;
+    motor->LPF_velocity.Tf = 0.005;
+    motor->LPF_angle.Tf = 0.005;
+    motor->P_angle.P = 15;
+    motor->velocity_limit = 40;
+    motor->voltage_limit = 40;
+    motor->sensor_direction = Direction::CCW;
+    current_sense->skip_align = true;
+    motor->init();
+    motor->initFOC();
+}
+
+
+void send_data() {
+    // TODO(vanyabeat) add can functionability for ROS packets
+    CAN_TX_msg.id = 1;
+    CAN_TX_msg.buf[0] = 'A';
+    CAN_TX_msg.len = 5;
+    Can.write(CAN_TX_msg);
+    digitalWrite(PC11, !digitalRead(PC11));
+}
+
+void read_can_message() {
+    float angle;
+    memcpy(&angle, &CAN_inMsg.buf[1], sizeof(angle));
+    motor.target = angle;
+    digitalWrite(PC10, !digitalRead(PC10));
+}
+
+void run_foc(BLDCMotor *motor, Commander *commander) {
+    motor->loopFOC();
+    motor->move();
+    motor->monitor();
+    commander->run();
+}
+
+void setup() {
+    Serial.setRx(HARDWARE_SERIAL_RX_PIN);
+    Serial.setTx(HARDWARE_SERIAL_TX_PIN);
+    Serial.begin(115200);
+    // setup led pin
+    pinMode(PC11, OUTPUT);
+    pinMode(PC10, OUTPUT);
+    Can.begin();
+    Can.setBaudRate(1000000);
+    TIM_TypeDef *Instance = TIM2;
+    HardwareTimer *SendTimer = new HardwareTimer(Instance);
+    SendTimer->setOverflow(100, HERTZ_FORMAT);  // 50 Hz
+    SendTimer->attachInterrupt(send_data);
+    SendTimer->resume();
+    setup_foc(&sensor, &motor, &driver, &current_sense, &command, doMotor);
+    _delay(1000);
+}
+
+float current_angle = 0;
+void loop() {
+    run_foc(&motor, &command);
+    current_angle = sensor.getAngle();
+    memcpy(&CAN_TX_msg.buf[1], &current_angle, sizeof(current_angle));
+    while (Can.read(CAN_inMsg)) {
+        read_can_message();
+    }
+}