Library for Embedded Code on STM32 Board

This repository contains embedded code for different components on the STM32 board. It serves as a library for Club Robot INSA Toulouse to work on STM32-based projects.

Contributions are welcome! If you have any improvements or bug fixes, feel free to submit a pull request.

Table of Contents

• Components supported list
• How to use this library
• How to work on this project
• Components
  • DC Motor
  • Encoder
  • Servo
  • Herkulex servo
  • CAN bus
  • UART
  • [...]
• Contributors

Components supported list

• DC motor
• Encoder
• Servo
• Herkulex Servo
• CAN bus
• [...]

How to use this library

0. Create your STM32 project

First you need to create a STM32CubeIDE project. If you already have one, skip this step.

Follow this guide to [Create a STM32 project](link to the guide).

Next we will add this library as a submodule for your project.

1. Add submodule

From your project, add this library as a submodule with the following command :

git submodule add https://github.com/ClubRobotInsat/stmlib.git

2. Initialize and update submodule

Initialize and update your submodules to fetch the code :

git submodule init

git submodule update

3. Update submodule to get the latest version from GitHub

In the submodule repo : git pull

4. Add the library to your project

To add the library to your project :

• Open your project in STM32CubeIDE
• Right-click on the project name, and select New -> Folder
• Click on Advanced and select Link to alternate location (Linked Folder)
• If the stmlib folder is in the root directory of your project, type PROJECT_LOC/stmlib in the Location field. If it is in another directory, type the path to the stmlib folder.
• Click on Finish

Now to include the library in the C include path :

• Click on the Project -> Properties (upper bar)
• In the C/C++ General section, click on Paths and Symbols
• In the Includes tab, click on Add and select Workspace then select the stmlib folder
• In the Source Location field, click on Add folder and select the stmlib folder
• Click on Apply and Close

# Attention :
If your haven't configured the STM32 board hardware proprely, you may not be able to compile the project.

Some elements in the library require the STM32 board hardware to be configured properly.

For example : dcmotor.h requires a timer to be configured so that stm32g4xx_hal_tim.h is included in the project.

5. Activate modules of the library

By default, all modules of the library are disabled to avoid STM32CubeIDE compilation errors. Hence, even if you include the library in your code, the code of the library will not be compiled. To active a module, uncomment the line in the stmlib_conf.h with the name of the module you want to activate:

// In stmlib_conf.h
/* DC Motor */
#define MOTOR_DC_ENABLED // <-- Uncomment this line to activate the DC motor module

That's it! You can now include the library in your code. Check the components section for more exemples.

How to contribute to this project

0. Add stmlib as a submodule

Create a STM32 project (use for testing) and add the library as a submodule (see How to use this library)

1. To create a new feature or fix a bug

• Create a new branch with the following command : git checkout -b [branch_name]

• Make your changes and commit them with the following commands : git add . git commit -m "Your message"

• Push your changes to the remote repository with the following command : git push origin [branch_name]

• Create a pull request on GitHub to merge the development branch with the main branch

Components

DC motor

View the DC motor documentation for more information.

Encoder

Description of component 2 and how to use it.

Servo

Description of component 3 and how to use it.

Herkulex servo

Description of component 3 and how to use it.

CAN bus

Description of component 3 and how to use it.

UART

Description of component 3 and how to use it.

Contributors

• Triet NGUYEN (trietngh)
• Huong Cam TANG (tanghuongcam)
• Liam CHRISMENT (LiamKaist)