FireSourcery Library

A general-purpose Embedded C library with a Motor Control stack for bare-metal MCU targets.

Highlights

• Modular — independently functional modules with minimized coupling.
• Portable — hardware-independent core; chip specifics live behind a HAL.
• Reusable — generic C primitives composed into higher-level behaviors.
• OOP in C — encapsulation, const correctness, clear ownership of state.
• Disciplined — strong naming conventions, layered design, minimal duplication.

Toolchain & Language

• Language: C23.
• Compiler: GCC ARM Embedded (arm-none-eabi-gcc).
• Build: GNU Make; PlatformIO supported via library.json.
• Runtime: bare metal, no RTOS required.
• Constraints: no dynamic allocation after init (malloc/free forbidden); no stdio (printf etc.); no blocking in the main loop.

Architecture

App → Motor → Transducer → Peripheral → HAL → Hardware

Motor Control Features

• Field-Oriented Control (FOC).
• Sensor support: Hall, Quadrature Encoder, Sine/Cosine.
• Speed and current feedback loops.
• Layered control behaviors built up from shared primitives.
• Standard wire protocol for GUI / host tooling, with an Arduino-compatible wrapper.

Layout

Motor — Motor control stack

• Motor/Motor — per-motor functions and state for operating a single motor.
• Motor/MotorController — multi-motor coordination, user I/O, communication.
• Motor/MotProtocol — wire protocol for host/GUI integration.

Peripheral — Peripheral abstraction

Common peripheral interface called by upper layers: Analog, CanBus, ClockTimer, NvMemory, PWM, Pin, SPI, Serial, Xcvr.

• Peripheral/HAL — hardware abstraction layer; register-level code per chip.

System

Common interface for system-level functions; thin abstraction over remaining hardware dependencies.

Transducer — Sensor & actuator algorithms

Encoder, Monitor, Pulse, UserIn, Blinky. Sits on top of Peripheral.

Generic layers

• Math — numerical value: Fixed, Linear, PID, Ramp, Filter, Angle, Accumulator, Hysteresis, Threshold.
• Type — shape of memory; type definitions and containers.
• Framework — software tools and algorithms independent of hardware (e.g. StateMachine, Protocol).

License

GNU — see LICENSE.