lonely-wolf/spider

firmware for hexapod robot based on STM32F4 (STM32F4DISCOVERY board)

Spider firmware

Firmware for hexapod robot based on STM32F4 (STM32F4DISCOVERY board)

Functions

Input

• 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.

Motor control

• 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

Hardware

PWM config

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

UARTs

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.