STM32 Car

A compact, modular, and extensible embedded project for building a small robotic car using an STM32 microcontroller. This repository contains firmware, hardware notes, wiring guidance, and build/flash instructions to get the vehicle driving, sensing, and responding to commands.

WhatsApp.Video.2025-10-28.at.15.08.10.mp4

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Project overview

STM32 Car is firmware and documentation intended to run on an STM32 microcontroller connected to motors, sensors. The project focuses on being:

• Easy to flash and test
• Modular so features (remote control) can be toggled/extended
• Portable between different STM32 MCUs with small pin mapping changes

This repository provides a starting point: motor control (PWM + H-bridge), sensor integration (ultrasonic/IR).

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Features

• Motor control using PWM (supports two DC motors via an H-bridge like L298N, TB6612, etc.)
• Basic obstacle detection (ultrasonic / IR)
• Command reading from IR Remote using an IR Receiver
• Configurable PID/simple speed control loop
• Modular source layout to add sensors / new behaviors easily

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Hardware requirements / Bill of Materials (BoM)

Minimum:

• STM32 development board (e.g., STM32L4xx, STM32F1xx "Blue Pill", STM32F4xx Nucleo, or similar)
• 4x DC motors (with wheels)
• Motor driver (L298N)
• Power source for motors (battery pack appropriate for your motors)
• 1x Ultrasonic distance sensor (HC-SR04) or IR distance sensor (optional)
• 1x IR Remote + 1x IR Receiver
• Wires, protoboard and 16x mounting screws (once I have time I will share them in detail here)

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Typical wiring and pinout

Always share grounds between motor power and MCU power

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Software architecture

• /Core or /Src: main application, HAL or LL drivers, peripheral initialization
• /Inc: header files for pin mappings and configuration constants
• /Drivers: motor control layer, sensor drivers (HC-SR04, IR line)
• /App: high-level behaviors (manual control, line follow, obstacle avoidance)
• Makefile / .project: project build files (if present)

The firmware uses an application loop:

1. Read sensors (distance)
2. Run control logic (obstacle check)
3. Update motors (PWM & direction)
4. Repeat

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Development environment & prerequisites

You can build this project using several toolchains. Pick one you are comfortable with.

Suggested:

• Visual Studio Code (make sure you have the extension STM32 for vscode already installed) OR

• STM32CubeIDE (import existing project or create a new one and copy source)

  • STM32CubeMX may help generate clock/peripheral initialization

• Alternatively:

  • arm-none-eabi-gcc toolchain
  • CMake
  • PlatformIO (with the appropriate board/platform)

• Flashing tools:

  • ST-LINK (STLink Utility, st-flash from OpenOCD/stlink)
  • OpenOCD + GDB
  • DFU (if using a DFU-capable bootloader)

Useful software:

• Python (optional for scripts)
• minicom / picocom / Tera Term / PuTTY (for serial console)

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Build instructions

If using VScode:

1. Make sure STM32CubeIde for Visual Studio Code and CMake Tools is installed on your IDE
2. optional: select your target (usually target is selected automatically)
3. ctrl + shift + p and then enter Cmake: Build

If you use STM32CubeIDE:

1. Open STM32CubeIDE.
2. Import -> Existing Projects into Workspace -> select this repo folder.
3. Build the project (Project > Build Project).

Note: Replace MCU/clock configuration if your board differs. The project leaves pin mappings in a header file for easy editing.

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Flashing / Programming

Programming

• Make sure STM32CubeIde for Visual Studio Code is installed in your VScode
• Once installed you can start debugging using STLink (through VScode).

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Runtime usage and controls

• On power-up, firmware initializes peripherals and generates a small buzzer sound sequence (in main_task task in App/tasks.hpp).
• Implemented Modes so far:
  • Manual control: receive simple commands via IRRemote (all mapped accordingly in Drivers/drive_sys.cpp

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Configuration and customization

• Pin mapping: edit .mxproject file to set MCU pins used by motors, sensors, and UART through stm32cubemx.
• Tuning:
  • PID values and speed limits are in App/drive_sys.hpp or similar.
  • Adjust sensor thresholds for distance and line reading in Drivers/HCSR04.hpp.

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Troubleshooting

• Motor does not spin:
  • Verify motor power and motor driver supply.
  • Confirm PWM pins are configured and timers enabled AND CLOCK FREQUENCY IS 80MHz.
• Sensors give no reading:
  • Confirm correct wiring and logic levels.
  • Use an oscilloscope or logic analyzer on the TRIG/ECHO lines for HC-SR04.
• Firmware does not flash:
  • Check ST-LINK connection and that the target MCU isn't held in reset.
  • Ensure correct flash address and file type (ELF vs BIN).

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Contributing

Contributions are welcome. Please:

• Open issues describing bugs or feature requests.
• Make small, focused pull requests.
• Follow the existing code style and document any hardware changes in the README or a new wiring diagram file.

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License

This repository is released under the MIT License. See LICENSE file for details. (If you prefer a different license, replace it and update the license header.)

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