Mixed C++/Rust Motor Controller Simulation

This repository implements a complete motor controller simulation with Field Oriented Control (FOC), using C++ for the simulation environment and Rust for the core control algorithms. It is designed to facilitate embedded firmware development, algorithm prototyping, and cross-language FFI exploration.

Key Features

• Full Field Oriented Control (FOC): A complete FOC implementation in Rust, including Clarke, Park, and Inverse Park transforms, along with PI controllers for d-q axis current regulation.
• Detailed Motor Model: A Permanent Magnet Synchronous Motor (PMSM) model in Rust that simulates both electrical and mechanical dynamics.
• Closed-Loop Control: The C++ simulation now operates in a closed loop, feeding simulated sensor data from the motor model back into the Rust control algorithms.
• Functional Bootloader: A simulated bootloader in C++ that demonstrates firmware update procedures, including flash erase and programming.
• Real-time GUI Tuner: A Python-based GUI that connects to the simulation via TCP, allowing for live tuning of PI gains and current targets.
• Simulation Realism: The simulation includes models for sensor noise to better approximate real-world conditions.
• Comprehensive Unit Tests: The Rust code is validated with a suite of unit tests (cargo test).

Getting Started

For detailed instructions on prerequisites, building, running, and testing the project, please refer to the INSTRUCTIONS.md file.

Quick Start Scripts

For convenience, you can use the provided quick start scripts:

• Windows: run_sim.bat (from the project root)
• Linux/macOS: run_sim.sh (from the project root)

These scripts will automatically build the project, start the C++ simulation in the background, and then launch the Python GUI tuner.

Manual Build & Run

1. Build the Project:

   # Create the C header from Rust code
   cbindgen --config rust/cbindgen.toml --crate motor_algo --output cpp/inc/motor_algo.h --lang c rust
   
   # Build the C++ and Rust code
   mkdir build && cd build
   cmake ..
   cmake --build .

2. Run the Simulation (from the build directory):

   ./sim

3. Launch the GUI Tuner (from the python_tools directory in a new terminal):

   python gui_tuner.py

Project Structure

A detailed breakdown of the project's file structure is available in INSTRUCTIONS.md.