Generated by STM32CubeMX 5.0.0 with STM32CubeF4 Firmware Package V1.22.0 / 02-November-2018

2018-11-03:

• 6x 20kHz PWM
• 6x 50Hz PWM
• WS2812 driver with DMA for 4 LEDs
• 6 ADC with DMA
• EXTI for 6 motor encoders using direction bit
• EXTI for 4 sensors
• GPIO inputs and outputs

2018-11-04:

• Cleanup of unused source files
• Cleanup of naming conventions in CubeMX project
• 4x ultrasonic distance sensors are working with 10us resolution based on TIM10
• 6x encoder signals are processed to distance [m], angle [deg] and velocity [m/s]
• Accelerometer and compass is working on I2C1 interface
• Roll and pitch angles are calculated from accelerometer
• Buzzer added TIM9_CH2

2018-11-14:

• Schematic is now uploaded
• WS2812 was unreliable with TIM+DMA, it might be a HW bug in ST's HW
• WS2812 is now driven on SPI5+DMA, pin moved to PB8 from PB7
• WS2812 library contains new functions to support SPI+DMA

2018-11-16:

• Final schematic added
• Gerber files added
• 3D model added

2018-11-17:

• Structural parts added

2018-11-19:

• WS2812 library cleanup, 3Mbit/s SPI is used, bit time is 1us

2018-11-24:

• Toolchain updated to STM32CubeMX 5.0.0 with STM32CubeF4 Firmware Package V1.22.0 / 02-November-2018
• Bluetooth tested
• Battery voltage measurement factor corrected

2018-12-07:

• Toolchain updated to STM32CubeMX 5.0.0 with STM32CubeF4 Firmware Package V1.23.0 / 23-November-2018
• First 4 WS2812 LEDs are showing the status of batteries and Bluetooth connection
• Communication protocol was updated to receive 5 bytes instead of 3
• PID controllers are added, 4 for velocity and 2 for angle

No patch is needed after code generation!

ToDo:

• Compass is not calibrated yet
• USB Host?