Firmware for hexapod robot based on STM32F4 (STM32F4DISCOVERY board)
- USB gamepad. Both my dualshock-like gamepads work in second "Mode".
- External commands from USART4. Under development! You can implement your own protocol. Works great for HC-05 + smartphone.
- Legacy control via precalculated tables. This part was ported from old AVR firmware. Stable. Main type of control for now.
- Onboard math. New feature. Under development
| Servo | TIM | Channel | Pin | Servo | TIM | Channel | Pin | |
|---|---|---|---|---|---|---|---|---|
| Left 1 | Right 1 | |||||||
| H1 | 2 | 2 | A1 | H1 | 9 | 2 | E6 | |
| V2 | 2 | 4 | A3 | V2 | 9 | 1 | E5 | |
| V3 | 2 | 3 | A2 | V3 | 4 | 3 | B8 | |
| Left 2 | Right 2 | |||||||
| H1 | 3 | 4 | B1 | H1 | 4 | 2 | B7 | |
| V2 | 1 | 1 | E9 | V2 | 3 | 2 | B5 | |
| V3 | 1 | 2 | E11 | V3 | 3 | 3 | B0 | |
| Left 3 | Right 3 | |||||||
| H1 | 1 | 3 | E13 | H1 | 1 | 4 | E14 | |
| V2 | 12 | 1 | B14 | V2 | 2 | 1 | A15 | |
| V3 | 12 | 2 | B15 | V3 | 3 | 1 | C6 |
| UART | TX | RX | Function |
|---|---|---|---|
| USART3 | PB10 | PB11 | Flashing via DFU |
| USART4 | PA0 | PC11 | Command channel |
I use DFU because ST-LINK on my Discovery is dead. It's more like "reserved pins".
Second UART is for external commands. This part is currently under development.