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sizes="(max-width: 300px) 100vw, 300px" height="60" width="300"></div> <div class="footer-left-widget"> <div class="textwidget"> <h3>Stm32 course. sa/vlgs/stephanis-boys-and-girls-club.</h3> <ul> <li>Stm32 course. Full range of STM32G4 training courses available online.</li> </ul> </div> </div> </div> <!-- End Col --> <div class="col-lg-4 col-md-12"> <form id="mc4wp-form-1" class="mc4wp-form mc4wp-form-828" method="post" data-id="828" data-name=""><label style="display: none ! important;">Leave this field empty if you're human: <input name="_mc4wp_honeypot" value="" tabindex="0" autocomplete="off" type="text"></label><input name="_mc4wp_timestamp" value="1712686821" type="hidden"><input name="_mc4wp_form_id" value="828" type="hidden"><input name="_mc4wp_form_element_id" value="mc4wp-form-1" type="hidden"> <div class="mc4wp-response"></div> </form> <!-- / Mailchimp for WordPress Plugin --> </div> <!-- End Col --> </div> <!-- End Widget Row --> </div> <!-- End Contact Container --> <div class="copyright"> <div class="container"> <div class="row"> <div class="col-md-6 align-self-center"> <span>Stm32 course. It is a practical cookbook for programming peripherals of all STM32 microcontrollers using the CubeMX framework. Embedded Developers migrating from 8 bit microcontrollers to 32 bit microcontrollers. STM32G4 Online Training. This course is ideal for anyone who wants to gain a deep understanding of the STM32 microcontroller architecture and develop highly optimized and efficient embedded systems. You can use STm32cubmx with Keil for rapid prototyping for a system. Sign up for our STM32 ARM-Based Course today and be at the forefront of the 32-bit Apr 24, 2024 · STMicroelectronics Massive Open Online Courses. BLOG. BLDC/PMSM motors basics. The default option to trigger the STM32 ADC to start the conversion process is the Software Trigger source. . STM32H7 Online Training. If you work with STM32 microcontrollers then you should absolutely get familiar with cubeMX. MIT license 0 stars 0 forks Branches Tags Activity. In this tutorial, we’ll be discussing the STM32 timers modules in STM32 microcontrollers. It can also be referred to as PGA (Programmable Gain Amplifier) because Phần 5: Kiến trúc Vi xử lý Arm Cortex Mx (4 bài) Bài 15: Chế độ hoạt động. Among the main topics of the course, you will learn: Usage of bit-fields in embedded code. Use STM32 CubeMx for generating peripheral driver for STM32F446RE microcontroller. This timer is usually set up in such a way that it’s initially loaded with a value that keeps decrementing until the timer reaches 0 and fires an interrupt every 1ms. The STM32 microcontroller certification course will gain your knowledge about embedded. STM32 programming using STM32Cubemx and Keil uvision5. دی. Hands-On STM32: Basic Peripherals with HAL by Erwin Ouyang Udemy Course. It is meticulously designed to cater to a wide spectrum of participants, including electrical and electronics engineers, embedded systems enthusiasts, STM32 This Course will help you getting started with FreeRTOS. The STM32 ADC Continuous-Conversion Mode can also be used with Polling, Interrupt, or DMA to get the ADC reading results as soon as the conversion is completed. Course is provided in MOOC format with course material available online. With this webinar you will understand the services provided by a microcontroller security framework and its benefits. YOUTUBE. Our STM training and certification course and trained by the experienced members can help you in developing your skills with qualified trainers. How To Use STM32's UART with DMA. No time wasting and straight to the point. License. Short Description: “The Biggest objective of this course is to demystifying RTOS practically using FreeRTOS and STM32 MCUs”. To read the STM32’s internal temperature sensor, we’ll do the following steps: Where the V25 is the voltage of the sensor’s output at (25°C) and it can be found in the “Electrical Specifications” in the MCU’s datasheet. در آموزش میکروکنترلر STM32 که از محبوبترین میکروکنترلر های ARM است، با نرم افزارهای کیل Keil ، کیوب آی. Keypad interfacing. You can visit the official website at. Discovering the STM32 Microcontroller. x with other STM32 ecosystem components (HAL library, STM32CubeIDE usage for code generation) Welcome to the Embedded Systems STM32 Hardware Abstraction Layer (HAL) Driver Development course. Take The Leap with STM32. The system mainly consists of 32-Bit Multilayer AHB Bus Matrix (Highlighted in Yellow) that interconnects the following hardware components: Five masters: Cortex®-M4 with FPU core I-bus. Thank you very much Greidi AjalikLinks:- Greidi's Youtube: https://youtu. You’ll get to know these different hardware variants and their application use cases. Bài 20: Bản đồ không gian bộ nhớ Memory Map. Bài 17: Hệ thống Bus. USB CDC (Communication Device Class) is a protocol specification for USB communication. be/HFmGk4o STM32 Microcontroller is important because it contains a series and parallel communication system that can link to a wide range of external devices, including cameras, sensors, motors, and more. This STM32 course will teach you the basics of STM32, including topics like how to work with the STM32Cube application, how to use the STM32CubeMX configuration, and how to use the STM32CubeMX software. All Software Tools used in this course are freely available. It is based on the Eclipse ® /CDT™ framework and GCC toolchain for the development, and GDB for the debugging. These courses provide helpful instructions and specific information on how to design applications that take advantage of the STM32G4’s efficient capabilities. x based on FreeRTOS operating system in your applicationIntention of this training is to introduce main features, components, co Jan 25, 2022 · 2 OLT (Online Training). Published : 2016. Update 6: videos are updated with the latest STM32CUBEIDE. Learning objectives of FreeRTOS on STM32 course: 1. Description. This course takes about 25 minutes to complete, depending on your This course, after a general presentation on graphic terminology, describes the ST solution to create rich graphical content on STM32 devices. by Khaled Magdy. STM32 I2C LCD Library & Examples (16×2, 20×4, Multiple LCDs) by Khaled Magdy. Learn about STM32MP1 main components and its ecosystem. Programming course in C language for ARM Cortex-M4 microcontrollers, based on the microcontroller STM32F407. The course is designed for Beginners to Advanced audience. Dedicated Support team to answer Q/A. Module 1: Creating convenient library for transmitting and receiving data using STM32’s UART. Pointers. Each I/O port bit is freely programmable, however, the I/O port registers must be accessed as 32-bit words (half-word or byte accesses are In this example project, we’ll test the STM32 SDIO + DMA interface with an SD Card and also test the functionalities provided by the FatFS library and use it to create a text file, write to it, read the file, modify the existing file, and delete the file. Course contents. He uses a Tiva-C MCU but applying the same to an STM-32 will not be that hard and will be a great assignment in its own way. Mar 27, 2019 · This lecture is part of the MOOC - STM32CubeMX and STM32Cube HAL basics https://www. This can also help students or employee beginners with their projects. This version of the course uses the STMicroelectronics STM32F4-NUCLEO which has an ARM Cortex-M4 microcontoller. The device that was used in this course is the STM32F407VG discovery board. A Massive Open Online Course (MOOC) is an online course aimed at unlimited participation and open access via the web. In the polling method, the ADC is started in In summary, here are 10 of our most popular embedded systems courses. The hardware is based on Microcontroller from worlds leading semiconductor manufacturer "ST Microelectronics" & 4G LTE Modem from "SIMCOM". The shift from 8-bit to 32-bit microcontrollers isn’t just a trend—it’s the future. Therefore, we had to manually call the HAL_ADC_Start() function whenever we wanted to start a new ADC conversion. Bài 16: Các thanh ghi. After creating the project in Stm32CubeIDE, it will open the default page for you called Device Configuration Tools. com/playlist?list=PLnMKNibPkDnGtuIl5v0CvC81Am7SKpj02 Please see In the first part of the course, you will learn, 1. The Average Slope is given in (mV/°C) and it’s also defined in the datasheet of the microcontroller. You will practice the tools and motor control libraries of ST solutions. And that’s what we’ll do in the practical example project hereafter in this tutorial. 5. 03. It combines STM32CubeMX code generator and most of the functionality of Atollic True Studio toolchain. It is a absolute time saver in your job or study. This library organizes flash memory into 2-kilobyte pages, each is further divided into multiple 32-bit blocks. W5500 is a great chip to add Internet Connectivity to Embedded Systems over Ethernet. You need some knowledge in C programming, and a NUCLEO-F401RE board STM32CubeIDE is an advanced C/C++ development platform with peripheral configuration, code generation, code compilation, and debug features for STM32 microcontrollers and microprocessors. It is a massive time saver. LVGL (Light and Versatile Graphics Library) is an open-source graphics library providing everything you need to create embedded GUI with easy-to-use graphical elements, beautiful visual effects and low memory footprint. If you use STM32 microcontrollers for programming you should know how to use STM32Cubemx with Keil or any other IDE . How to communicate between the microcontroller and the TFT display using MIPI DPI and MIPI DBI. 4. By mastering the STM32, you’re not just learning a new skill; you’re becoming a pioneer in the next big wave of microcontroller innovation. In this course, you’ll learn the basics of STM32 ARM-Based microcontrollers architecture, STM32 hardware peripherals, and develop some interfacing upper-layer firmware components that are configurable and reusable in different projects. 2. After finishing the second part, you will be able to write codes for commonly Course Description. This is the Advanced level course for the world famous Embedded Systems Bare-Metal Programming Ground Up™ (STM32). The class starts from the basics of setting up a microcontroller programming and hardware environment. This course is divided into 3 parts. These courses provide helpful and detailed technical information on the features and benefits of our STM32 microcontrollers and microprocessors as well as their open development ecosystem to easily start your applications and take Microcontrollers: introduction to STM32 Jan 30, 2024 · This playlist contains a course on bare metal embedded software development, using an STM32 MCU and STM32CubeIDE. Sessions are proposed covering an extensive range of technologies including Processors, FPGA, drivers & other low-layer software, as well as programming languages. Phần 6: Tổ chức bộ nhớ (4 bài) Bài 19: Chức năng của bộ nhớ. 3 (9 ratings) 458 students. Under the Mode Selection Dropdown menu, select Interface to CMSIS_V2. Real-Time Embedded Systems: University of Colorado Boulder. Videos & e-Presentations. English Subtitles/CCs are enabled for this course. The learning outcomes include starting a new project in STM32 CubeIDE, configuring STM32 chip GPIO pins, understanding clock configuration, controlling GPIO in STM32, using HAL_Delay for delays, upgrading ST-LINK, debugging with STLINK STM32, building and running code, implementing interrupt code examples Course code: MCU1. The goal of this course is to teach you how to navigate the microcontroller reference manual and datasheet to extract the right information to professionally build peripheral drivers and Still keeping it simple, this course comes in different ARM Cortex-M development boards so that students can put the techniques to practice using an ARM Cortex-M development board of their choice. by Geoffrey Brown. In Device Configuration Tools go to Categories > Middleware > FREERTOS. Understand the fundamental concepts of real-time operating systems, multitasking, and task scheduling. The course begins with overviews of ARM architectures, Programming Tools and introduction to STM32F4 Discovery Board. The STM32 Hardware Abstraction Layer (HAL) provides a simple, generic multi-instance set of APIs (application programming interfaces) to interact with the upper layers like the user application, libraries and stacks. Becoming an expert in STM32 HAL programming. Get ready to dive into the exciting world of bootloader development with this beginner level course of our bootloader development series on STM32 microcontrollers. Subtitles(CCs) and transcripts are available for this course. Of course there are reasons that STM32 isn't as popular as Arduinos in the makers crowd, and to name a few: Learning curve Programming on STM32 is a bit more involved than Arduino, but you do get much more control over peripherals as a result. It is written for STM32F051R8. And we’ll start with the timer mode in Jan 28, 2021 · 👉Stk: 19930512001 - NGUYEN HUU TIEN - TP Bank - Hà Nội👉 Sau khi chuyển khoản mọi người nhắn tin gmail của mình tới ad trong page : https://www. You will be learning all the peripherals programming from scratch no libraries used in Keil uVision IDE. Hello Welcome to the Mastering STM32CubeMX 5 and CubeIDE course. com/in/ahmed-eldeep روابط الدروس بمنتدى . Latest update: RTOS debugging using SEGGER SystemView Trace tools, STM32 hal. STM32 GPIO Registers (Direct Register Access) Fast Pin Control. These courses provide helpful instructions and specific information on how to design applications that take advantage of the STM32H7 Learn how to create your STM32 based application using STM32CubeIDE. The only libraries and instructions that are used in this course, are the ones that can be used on any other C compiler. com/ Our engineers have carefully crafted these courses from which you can learn STM32 inte Description. This course provides a step-by-step tutorial for beginners on programming with STM32. This is a comprehensive guide for STM32 I2C LCD Interfacing (I2C LCD 16×2, 20×4, and Multiple I2C LCDs). Throughout this beginner-friendly course, you will explore the fundamentals of bootloader development, from the build process to the memory model and beyond. These courses are proposed either as live online courses, or as open classes in our premises in France Jul 28, 2022 · For everyone who would like to learn how to start with STM32 programming. x and its usage with STM32 MCUs on real examples Engineers looking for practical knowledge concerning implementation of FreeRTOS using CMSIS_OS v2. What you’ll learn. Furthermore, the curriculum emphasizes the creation of Reconfigurable Reusable Firmware in C, ensuring that students acquire skills relevant to Mar 17, 2024 · The Getting started with STM32 step-by-step guide is designed for anyone interested in getting started on building projects with the STM32 microcontroller and its powerful ecosystem of development boards and software programming tools. Then course continues with fundamental the SoC peripherals such as I/O ports, ADC, Timers and USART and of course along with their project. Basics of embedded graphics systems. Final project of STM32 course — Alarm clock. مقدم الدورة المهندس أحمد الديب Embedded Software Engineer https://www. Developers will have hands-on training working with the Cortex-M4 and Jul 27, 2023 · Mastering STM32 programming is a gateway to the world of embedded systems. You’ll learn how to use our STM32 I2C LCD Library and create some example projects to practice what we’ll be learning in this tutorial. Learn at your own pace, watch classes on your own schedule, anytime, anywhere, on any device, or join one of our live learning sessions led by our experts, close to you (trainings, tutorials, books, videos and much more). آموزش میکروکنترلر STM32 – سطح 1. This course teaches you how build embedded systems firmware and peripheral drivers using the STM32CubeMX 5 framework and the STMCubeIDE development environment. Each of the general-purpose I/O ports has two 32-bit configuration registers, two 32-bit data registers, a 32-bit set/reset register, a 16-bit reset register, and a 32-bit locking register. Using STM32CubeMX design interface, we will generate basic code for our Application Project. This session includes a hands-on demo of a Secure Boot and Secure Firmware Update with root of trust. This book is intended as a hands-on manual for learning how to design systems using the STM32F1 series of microcontrollers. ST offers a full range of training courses in both ePresentation and PDF format for the STM32G4 series. Cortex®-M4 with FPU core S-bus. You have to take the Embedded Systems Bare-Metal Programming Ground Up™ (STM32) before taking this course. Please see the course curriculum for more information. A complete list of our short videos and animated presentations that can explain how the main features of some of our key COURSES. Created by Georgy Moshkin. 1. GPIO-IN(Pushbutton)programming: Complete steps, how to generate code and write code in Keil and how to debug Feb 12, 2021 · In this lecture you will get to know hardware and software we are going to use throughout this course for microcontroller STM32F446RE (NUCLEO-F446RE) ,This Description. Introduction to Embedded Systems Software and Development Environments: University of Colorado Boulder. All you need is a STM32 Board! This course will teach you the best way to work with FreeRTOS. It includes hands-on practice on STM32. STM32 ADC Timer Trigger & External Trigger Sources. This course covers an introduction to the STM32 ARM architecture, the operating system environment, syntax, STM32 ARM instruction set, and STM32 Who this course is for: Technical graduates who wish to learn STM32 programming. The STM32 Black Pill development board is a very popular entry-level development board that’s usually recommended for beginners in STM32 firmware development. Learn STM32 today: find your STM32 online course on Udemy. The ST graphical solution covers the hardware part, with additional dedicated IPs, the software part with drivers and graphical stack from partners, and more generally the ecosystem that also include The modern embedded system course by Miro Samek is a great resource for anyone who is into embedded systems. FOC drive theory. STM32 ADC Continuous Conversion Polling. Peripheral APIs and More examples are added. STM32 Education. Text Books. Some other certifications courses like ARM Microcontroller, 8051 Microcontroller, MSP Microcontroller, PIC A proven online professional certification course to dive into the programming of ARM Cortex-M Controllers manufacture by World’s leading semiconductor company STMicroelectronics. Sign In. >> The Complete FreeRTOS Course with Programming and Debugging . In this tutorial, we’ll use the STM32 GPIO registers to configure & control the GPIO pins with direct register access. English. No long-waiting time for connection establishments to access points or frequent disconnections. Data is stored in these blocks, each is addressed by a unique address. With its versatility, rich peripheral set, industry support, and robustness, STM32 microcontrollers have become a top STM32 OpAmp (PGA) The STM32 OpAmp peripheral is a hardware analog operational amplifier integrated inside the STM32 microcontroller itself. Learn bare-metal driver development using Embedded C : Writing drivers for STM32 GPIO,I2C, SPI,USART from scratch. In addition to traditional course materials such as filmed lectures, readings, and problem sets, many MOOCs provide interactive user forums to support community interaction among You will first familiarize yourself with the Field Oriented Control basics and its implementation on STM32. It allows the integration of the hundreds of Jan 28, 2022 · Share your videos with friends, family, and the world Oct 13, 2018 · Enroll for the full course here with this link: http://fastbitlab. COMMUNITY. Embedded Software and Hardware Architecture: University of Colorado Boulder. Top companies choose Udemy Business to build in-demand career skills. Steps by steps in learning STM32. Understanding everything about STM32F103C8T6 microcontroller, memory architecture, CRC calculation, Power Control, Backup registers, Low power mode, RCC clock, GPIO, Interrupt and events, ADC and DAC, DMA, Timer, Real time clock, Watchdog timer, Flexible Feb 12, 2021 · Stm32F446RE Microcontroller Programming Course using Nucleo-F446RE Development Board First experience with STM32CubeMX and X-Cube-AI – tools dedicated to Neural Network support on STM32. After a brief overview of the high-performance STM32MP1 microprocessor, together we will develop simple example embedded software solutions taking advantage of the customizable boot chain and kernel pin multiplexing. This course has many sections but primarily the course can be divided into three parts. All the way from project creation, through to circuit design, PCB layout and routing, and final manufacturing file generation. Bài 18: Trình tự khởi động. Mar 23, 2024 · STM32 USB CDC & VCP. There are 2 common variants for the STM32 black pill board with the following target microcontrollers: (STM32F411 & STM32F401). Hobbyist who wish to learn about STM32 programming . This course is an essential training on STM32 CubeMX. English [Auto] Jan 3, 2023 · Learn how to create your STM32 based application using STM32CubeIDE STM32CubeIDE can be used to create applications for STM32 devices using STM32Cube librari This course is an application oriented course that teaches hardware designing considering a 4G GSM Modem based IOT application. Publisher : Indiana University. After finishing the first part, you will be able to write codes for basic peripherals like Clock Control, GPIO, Interrupt, and DMA. Whether you are an experienced embedded programmer or an enthusiastic beginner, learn in five tutorials from Description. This course takes approximately 90 minutes to complete, depending on your proficiency. This course teaches you the hands-on skills of STM32 programming using HAL library. STM32CubeIDE can be used to create applications for STM32 devices using STM32Cube libraries (HAL and Low Layer versions). DMA1. Apr 10, 2023 · The course is designed for Beginners to Advanced audience. In this intermediate course we also implement more examples of embedded Ethernet applications. Understanding how to use existing demo project for STM32 demonstration boards; Understanding how to create a TouchGFX application for custom LCD and external memory resources; On line course concept. facebook. ST offers a full range of training courses in both ePresentation and PDF format for the STM32H7 series of High Performance MCUs. Ethernet is a preferred communication method in Industrial Automation because it is more reliable and secure than WiFi. 👉 Để học lập trình Vi điều khiển STM32 (về thanh ghi và thư viện STD) thì các bạn nên nắm rõ các kiến thức về ARM Cortex Mx. You can browse our seminar and training calendar . Full range of STM32H7 training courses available online. Seminars & Training. Course outline. STM32L432KC (ARM Cortex-M4) Architecture. lvgl. Explore the features of the STM32F407 microcontrollers by knowing its electrical characteristics, its main registers and applications. how to interface an LCD-TFT display to the microcontroller board. Full range of STM32G4 training courses available online. ای CubeIDE ، همینطور نرم افزار CubeMX به نحوی کاربردی آشنا میشیم. 30min of on-demand video. linkedin. ST offers a full range of free online training courses for our Arm ® Cortex ®-M –based STM32 microcontrollers and microprocessors. io. At the time of writing this article, over 781+ individuals have taken this course and left 123+ reviews. Watch our 1-hour webinar with Q&A “Understand proven STM32 Description. It was written to support a junior-level computer science course at Indiana University. Free Download. Update 5: All drivers are developed in a live session with step-by-step coding and added stm32-Arduino With a programming-based approach, this course is designed to give you a solid foundation in bare-metal firmware development for ARM-based microcontrollers. 🌱 STM32 Learning Path. Cortex®-M4 with FPU core D-bus. Bài 21: Bit-Banding. Enroll in Course for $40. Gain practical knowledge on how to set up and configure the FreeRTOS environment on the STM32 microcontroller platform. This MOOC is targeting anyone who starts working on STM32 by introducing STM32 ecosystem. This opamp can be configured to operate in different modes which makes it so flexible and suitable for a wide range of applications. Feb 3, 2024 · How to create stm32 project in stm32cubeide with example code. It consists of 26 videos with a total durat A quick overview of the STM32 embedded security solution. Everything else is self-made. ST organizes seminars and training courses on our products, either hosted directly by ST or in partnership with third parties. Who should attend this course? Build your own projects with the STM32F4 microcontroller. PROJECT-Based STM32 Programming course to learn STM32 hardware peripherals, CubeMx, HAL API, Communication interfaces, and bare metal programming. You’ll learn how to use STM32 register programming to configure & control the GPIO pin in a much faster way than using the HAL functions. Bring your STM32 project to life with the free educational resources created by our engineers. So with that understood, let me tell The course also covers STM32 GPIO Programming, Timers and PWM, DMA and ADC interfacing, and techniques to interface with various Display Units and Input Units like 7-Segment displays and keypads. Aug 25, 2021 · STM32 Learning Path ARM STM32 Course. How to use the LTDC peripheral of the STM32 microcontroller, 4. Practice on STM32 basic peripherals using STM32CubeMX. youtube. com Who should attend this course? Engineers looking to better understand FreeRTOS and CMSIS_OS v2. All STM32 ARM Cortex-M processors have an internal SysTick (System Tick) timer which is a 24-bit down-counting timer. Explore many resources of the STM32CubeIDE as well as software libraries, HAL API, and a >> The Complete FreeRTOS Course with Programming and Debugging << Latest update: RTOS debugging using SEGGER SystemView Trace tools, STM32 hal. 3. The shown below is the STM32F411 Black Pill board by WeAct. Course is provided in MOOC format with course material available online, mostly as videos complemented with exercises. STEP-by-STEP guide to port/run FreeRTOS using development setup which includes, 1) STM32CUBEIDE + STM32F4xx + FreeRTOS + SEGGER SystemView. Towards the end of the playlist, he implements a minimal RTOS from scratch and explains the What is the LVGL. There are different hardware timers in STM32 microcontrollers each can operate in multiple modes and perform so many tasks. However, the ADC can also be automatically triggered by internal or STM32 SysTick Timer. The STM32 X-CUBE-EEPROM is an extension for STM32CubeMX software that adds a lightweight software implementation for EEPROM Emulation. I am doing the same. The course content is kept minimalistic. This course takes approximately 5 hours to complete, depending on your proficiency. Free tutorial. You will be able to develop projects using STM32F4 to improve your basic knowledge by Description. STM32 GPIO Ports. We’ll monitor the progress of this test sequence using USB CDC (VCP) messages printed This course will give you a straightforward and complete way to moving from Arduino-based designs to your own, completely custom, STM32-based hardware. Star Notifications May 22, 2022 · The course is designed for Beginners to Advanced audience. Join our Online Professional Course on STM32 ARM Controllers with in-depth training on peripherals such as GPIO, NVIC, ADC, DMA, I2C, USART, Embedded Graphics, RTOS Ac6-training augment your skills for developing of your embedded electronics. On line course concept. There are many other USB classes that specify various protocols over the USB physical layer to enable communication of (data, audio, video devices, HID devices, mass storage, wireless controllers, and much more). Throughout this course, you'll work on a variety of hands-on projects, including blinking LEDs, reading analog sensors, and using interrupts to respond to external events. This course offers a comprehensive and hands-on exploration of digital closed-loop control systems for buck converters, with a special focus on average current mode control. 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