foc based on stm32g431

It has been verified that the motor can rotate, and the speed loop and angle loop have been implemented. There is no current loop because I made a mistake in the current sampling circuit
 
. This board is for reference only. Although it has been verified that the motor can rotate and there should be no fatal problems with the hardware, there are other problems with the circuit. The problems are as follows:
(1) Current sampling circuit Problem, no bias voltage is added.
(2) I use the boot0 pin of the microcontroller as an i2c interface. When powering on, boot0 does not pull down, causing the program to not start. Boot0 needs to be modified, which is troublesome.
 
       The buck chip uses MP9942, the maximum input voltage is 36V, and the voltage is stepped down to 5V. Then the sx1308 is used to boost the voltage to about 11V to power the driver chip. The tps70933 is used to step down the 5V to 3.3 to power the microcontroller and other sensors. It can also be used to power the microcontroller by plugging in USB. Power supply is only supplied to the microcontroller.
      The microcontroller uses stm32g431CBU6, and it has a USB to serial port chip on the board to facilitate printing of debugging information.
 
The modified project will be sent out later. https://oshwhub.com/ahuahu/stm32g431cub6-foc This is an improved project. Since I am not a professional, I do this out of interest, so if you have any questions, please point them out in the comment area, and I will learn with an open mind.
Since the code is pieced together, I won’t post it. If you need to leave a message in the comment area, I will send it to you.
If you can't see the project, just open the editor in the upper right corner and there it will be.