STM32F4 Self-Balancing Robot Firmware

A layered firmware architecture for a self-balancing robot based on STM32F401RC microcontroller.

Overview

This project implements a modular firmware architecture for a self-balancing robot, featuring:

• Hardware Abstraction Layer (HAL) for STM32F4 peripherals
• Device Driver Layer for sensors and actuators
• Middleware Layer for system services and signal processing
• Application Layer for robot logic and control algorithms

Architecture

The firmware is structured with clean separation of concerns:

1. Hardware Abstraction Layer: Direct peripheral access with consistent API

   • GPIO, I2C, SPI, UART, Timers, DMA, etc.

2. Device Driver Layer: Hardware-independent device interfaces

   • Sensors (IMU, etc.)
   • Actuators (Motors, etc.)
   • Communication protocols

3. Middleware Layer:

   • System services (delays, initialization)
   • Signal processing (filters, controllers)

4. Application Layer:

   • Robot logic (balancing algorithms)
   • System state management
   • Command processing

Features

• Minimal CMSIS-based implementation
• No dependency on vendor HAL libraries
• Consistent error handling across layers
• Clean interface abstraction between layers
• Modular and testable components

Hardware Support

• STM32F401RC microcontroller
• MPU6050 IMU (planned)
• Motor drivers (planned)
• RC receiver interface (planned)

Getting Started

Prerequisites

• ARM GCC toolchain
• Make
• ST-Link utility for flashing

Building

make