Tinymovr

> ## Notice — Source moved private as of v3.0.0
>
> Active source development for Tinymovr has moved to a **private repository**
> as of v3.0.0. This public repository continues to host:
>
> - **Documentation** in [`docs/`](docs/), built and published at
>   <https://tinymovr.readthedocs.io>.
> - **Releases** with attached binaries (firmware, Python wheel, Studio Web)
>   on the [Releases page](https://github.com/motionlayer/Tinymovr/releases).
>
> The source code in this repository reflects the state at v3.0.0 and is
> **no longer updated**. To use the latest firmware or Studio, download the
> latest release artifacts.
>
> ### License
>
> The source in this repository reflects the state at v3.0.0 and remains
> available under its original per-directory licenses:
>
> - **Firmware** (`firmware/`) — MIT
> - **Hardware** (`hardware/`) — MIT
> - **Documentation** (`docs/`) — MIT
> - **Studio Python** and the overall project — GPLv3
>   (see root `LICENSE.txt` and `studio/LICENSE`)
>
> Those terms remain in effect for the code as of v3.0.0. Releases from
> v3.1 onward are distributed by MotionLayer P.C. as proprietary binaries
> built from a private codebase; their source is not published.
>
> For support: [Discord](https://discord.gg/vNvmpfthug) ·
> [Discussions](https://github.com/motionlayer/Tinymovr/discussions) ·
> [Issues](https://github.com/motionlayer/Tinymovr/issues) ·
> [tinymovr.com](https://tinymovr.com)

---

![FW Check Build](https://github.com/yconst/tinymovr/workflows/Tinymovr%20Firmware%20Check%2FBuild/badge.svg)
![Studio Lint Test](https://github.com/yconst/tinymovr/workflows/Tinymovr%20Studio%20Lint%2FTest/badge.svg)
![Docs Build](https://github.com/yconst/tinymovr/workflows/Tinymovr%20Docs%20Build/badge.svg)
[![Discord](https://img.shields.io/discord/742400176664084535)](https://discord.gg/vNvmpfthug)

[Tinymovr is an affordable motor controller](https://tinymovr.com) with integrated encoder and CAN bus for precise control of 3-phase brushless motors (PMSMs). 

This repository holds the open source firmware, client library, hardware designs and documentation source.

> **Note**
>
> This is the latest stable version of the Tinymovr Firmware and Studio app. For the legacy 0.x.x version, check out the [legacy branch](https://github.com/tinymovr/Tinymovr/tree/attic/legacy).

## Getting Started

Please visit the [Quick Start Guide](https://tinymovr.readthedocs.io/en/latest/quickstart.html)

## Getting Help

[Full documentation is available at Readthedocs](https://tinymovr.readthedocs.io).

Please visit the [Discussions Page](https://github.com/tinymovr/Tinymovr/discussions) and the [Discord Server](https://discord.gg/vNvmpfthug) to ask any questions. If you are unable to find an answer to your question, you are welcome to [start a new discussion](https://github.com/tinymovr/Tinymovr/discussions/new/choose) or ask away at [our Discord server](https://discord.gg/vNvmpfthug).

If you would like to propose a feature or think you have found a bug, [open a new issue](https://github.com/tinymovr/Tinymovr/issues/new).

### Repository Structure

> **Note**: The `main` branch reflects the latest release. Development happens on [develop](https://github.com/tinymovr/Tinymovr/tree/develop).

The repository is organized as follows:

[firmware](./firmware/): Firmware for the PAC5527 MCU in Tinymovr

[studio](./studio/): Tinymovr Studio client software and library

[hardware](./hardware): Designs and drawings for related hardware

[docs](./docs): User documentation source (built with Sphinx)

See also: Developer documentation in root (ARCHITECTURE.md, CONTRIBUTING.md, etc.)

### Developer Documentation

For contributors and AI agents working with the codebase:

- **[ARCHITECTURE.md](ARCHITECTURE.md)** - System design and module organization
- **[CONTRIBUTING.md](CONTRIBUTING.md)** - Setup, workflow, and PR process
- **[SAFETY.md](SAFETY.md)** - Safety-critical constraints (read before modifying firmware)
- **[CLAUDE.md](CLAUDE.md)** - Navigation guide for AI agents

Additional technical documentation:
- [AVLOS_GUIDE.md](AVLOS_GUIDE.md) - Protocol modification workflow
- [CONVENTIONS.md](CONVENTIONS.md) - Code style and patterns
- [TESTING.md](TESTING.md) - Testing practices
- [STRUCTURE.md](STRUCTURE.md) - Directory organization
- [PAC5527_NOTES.md](PAC5527_NOTES.md) - MCU architecture

## Versioning

We use [SemVer](http://semver.org/) for versioning. For the versions available, see the [tags on this repository](https://github.com/tinymovr/tinymovr/tags). 

## Contributing

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.

**New contributors**: See [CONTRIBUTING.md](CONTRIBUTING.md) for setup instructions and workflow.

**AI agents**: See [CLAUDE.md](CLAUDE.md) for navigation and guidelines.

## License

[GPLv3](https://choosealicense.com/licenses/gpl-3.0/)

### External Links

[Tinymovr Website and Store](https://tinymovr.com)

[Blog](https://tinymovr.com/blogs/news)

[Discord server](https://discord.gg/vNvmpfthug)

[Project page on Hackaday](https://hackaday.io/project/168650-tinymovr-motor-controller)

[BLDC-Design-Help Repository](https://github.com/ThotAlion/BLDC-design-help), with lots of useful information and Tinymovr benchmarks