## Fast Control loop
Fast control loop must:  
Check for over limit events if not handled in hardware
Retrieve current values from ADC conversion  
Retrieve voltage values  
  IF logging: write currents and voltage to logging buffer, increment logging pointer  (not yet implemented)
  IF logging pointer >logging samples, set logging complete (not yet implemented)
Check state (Idle, running, tracking, fault/BRK...)  
Manipulate currents and voltages to Vab (FOC)  
Calculate current position and speed (get Hallsensor values, sensorless observer, ToDo Encoder)  
Calculate Field weakening
Run FOC loop
Run SVPWM (include inverse clark/park)
Update inverter PWM values based on phase and voltage  

## Slow control loop
Execute every 20ms on PWM input, 50ms on overflow (UART, ADC in...)
Without RCPWM input, or with RCPWM processed elsewhere, the slowloop can be run faster (recommended <<1kHz) on any timer with priority second to the fastloop timer and ADC interrupt (if used)
State machine processing (ToDo)

Update parameters (e.g. volts to PWM, gains...)
Run MTPA
Run power and current limitations

Speed Ramps etc... ToDo


## Coms loop

ToDo, currently only simple single character arguments. C0d3b453 working on an implementation...
Runs on UART RX interrupt
DMA used to transmit strings.

## Speeds, angles, input params...
### Motor params demanded will be:  
PP - Pole pairs
Finds kV as mWb on detection
Rph - Phase resistance (=1/2 phase:phase resistance) detected by measurement protocol
Ld - Phase inductance in Ld detected by measurement protocol as Lx = Vdinjected/(di/dt)
Lq - As Ld but found by Vq injection
Max motor current
Max power
Switching frequency
Possible future...
OLRampCurrent - Open loop ramp current 
OLmechRPM - open loop mechanical RPM (will ramp up to this speed in open loop, and stay there until sync'd/detected)

### Inverter params will be:


### Controller params will be