Hi,
i don't have much experience in the STM32 enviroments, but i know very well the control system world.
Basically you need to implements a control loop. You need a module to acquire the sensor signal (the hall effect sensor), a module to apply the control signal (the input of your motor driver, that is not the output of the PID) and a module to implement the PID control law. You may also need a module to implemente the reference position..
All this module need to run in an hard realtime enviroment, so you need also a RTOS or other hard realtime enviroment (like interrupts) to implements the control loop.
The most problematic thing in the control loop is the controller, i hope that you know how it is done mathematically and how you find the parameters, the sampling time...
How you write the code? This is the pseudo code for the control loop:
while(1){
acquireReferenceSignal()
acquireSensorSignal() // hall sensor
calculateError()
calculateControlSignal() // PID
applyControlSignal()
while(!sampleTime) ;
}
This is all!
PS
Are you sure that the hall effect sensor measure the position of the DC motor? I think that the hall effect sensor measure the speed and not the position. If you need to control the position you need to integrate the speed and this is not a good idea..
