diff --git a/Readme/Writerside/c.list b/Readme/Writerside/c.list
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+
+
+
+
+
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diff --git a/Readme/Writerside/cfg/buildprofiles.xml b/Readme/Writerside/cfg/buildprofiles.xml
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+++ b/Readme/Writerside/cfg/buildprofiles.xml
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+ true
+
+
+
+
diff --git a/Readme/Writerside/images/STM32G474-Nucleo.png b/Readme/Writerside/images/STM32G474-Nucleo.png
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+
+
+
+
+
+ Created after removal of "How to" from Instance Name
+ How-to.html
+
+
+ Created after removal of "原理图篇" from Instance Name
+ 原理图篇.html
+
+
+ Created after removal of "原理图设计" from Instance Name
+ 原理图设计.html
+
+
+ Created after removal of "性能对比" from Instance Name
+ 性能与价格对比.html
+
+
+ Created after removal of "RK3399原理图设计" from Instance Name
+ RK3399原理图设计.html
+
+
+ Created after removal of "电源系统及推荐上电顺序" from Instance Name
+ 电源系统及推荐上电顺序.html
+
+
+ Created after removal of "DDR控制器" from Instance Name
+ DDR控制器.html
+
+
+ Created after removal of "eMMC控制器" from Instance Name
+ eMMC控制器.html
+
+
+ Created after removal of "原理图文件结构" from Instance Name
+ 文件结构.html
+
+
+ Created after removal of "原理图封装绘制" from Instance Name
+ 原理图封装绘制.html
+
+
+ Created after removal of "原理图DRC检查" from Instance Name
+ 原理图DRC检查.html
+
+
+ Created after removal of "PCB设计" from Instance Name
+ PCB设计.html
+
+
+ Created after removal of "PCB封装库设置" from Instance Name
+ PCB封装库.html
+
+
+ Created after removal of "PCB导入网表" from Instance Name
+ PCB导入网表.html
+
+
+ Created after removal of "《基于Cadance17.4 RK3399原理图PCB设计》" from Instance Name
+ starter.html
+
+
+ Created after removal of "Starter" from Instance Name
+ topics_starter.html
+
+
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diff --git a/Readme/Writerside/topics/Writerside/topics/Writerside_topics_starter.md b/Readme/Writerside/topics/Writerside/topics/Writerside_topics_starter.md
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+# ReadMe
+
+
+
+## About this document
+此文档将会详细解析软件上各个模块功能，FOC控制原理，硬件电路相关内容。
+
+## 第一章 硬件部分（Hardware）
+### 使用的硬件设备
+该项目使用 ST公司生产的 STM32G474RE-Nucleo-64 评估板，TI 生产的 BOOSTXL-DRV8301 电机驱动板为主要开发套件。
+
+
+
+相关资料请访问：
+[](https://www.st.com/en/evaluation-tools/nucleo-g474re.html)
+（ST的开发板在接口和设计上是深入思考后的产品，在开发中节约了很多时间）
+
+
+
+相关资料请访问：
+[](https://www.ti.com.cn/tool/cn/BOOSTXL-DRV8301)
+
+* 由于这是一个前期验证的项目，硬件电路就先使用杜邦线连接了，后期完善后将会重新设计一块PCB。
+
+### MCU 管脚分配
+
+此项目使用了ST的cubeMX进行硬件上面的管脚分配，cubemx使用起来十分方便，强烈推荐。
+
+
+
+### 接线图与实物图
+
+
+## 第二章 软件部分
+
+### FOC算法（FOC algorithm）
+
+
+
+#### clack变换
+
+
+
+
+本项目暂时使用的是SPWM调制的正弦波，想要提高效率请使用SVPWM调制马鞍波形（效率可以提高15%）。
+
+
+
+1，把基变换将其正交化为一个直角坐标系，把三相电流波形的相位变化变成二轴坐标系中α和β矢量长短变化。
+
+
+
+2，三角函数投影计算过程
+
+
+
+三角函数复习：
+
+
+
+
+
+3，Clarke变换写成矩阵形式
+
+
+
+4，此为变换后的波形对比图
+
+
+
+参考资料：
+[](https://zhuanlan.zhihu.com/p/147659820)
+
+#### Park变换（将变量线性化）
+
+1，让转子旋转起来！
+
+
+
+
+
+2，写成矩阵形式：
+
+
+
+3，Park变换前后波形对比，已经可以从设置正弦波变为设置Iq 和 Id了。
+
+
+
+4，Iq代表了期望的力矩输出， Id不需要的，我们希望尽可能把它控制为0。
+
diff --git a/Readme/Writerside/v.list b/Readme/Writerside/v.list
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+++ b/Readme/Writerside/v.list
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+
+
+
+
+
diff --git a/Readme/Writerside/writerside.cfg b/Readme/Writerside/writerside.cfg
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--- /dev/null
+++ b/Readme/Writerside/writerside.cfg
@@ -0,0 +1,11 @@
+
+
+
+
+
+
+
+
+
+
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