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MM Micromouse Project

Installing Prerequisites

MM Micromouse Project (STM32F411)

This repository contains the firmware and supporting code for a Micromouse robot, targeting the STM32F411 microcontroller.

Installing Prerequisites

Install the ARM toolchain for STM32F411:

sudo apt-get install gcc-arm-none-eabi

On Windows, download from ARM Developer and add it to your PATH. Verify installation:

arm-none-eabi-gcc --version

Install CMake:

sudo apt-get install cmake

On Windows, download from CMake, add to PATH, and verify:

cmake --version

Install Ninja:

sudo apt-get install ninja-build

On Windows, download from Ninja Releases, add to PATH, and verify:

ninja --version

Pull in external dependencies:

git submodule update --init --recursive

Building (STM32F411 Only)

To build for STM32F411: On Windows, use the .ps1 script in PowerShell. On Linux, use the .sh script:

./make.ps1 -t stm32f411

or

./make.sh -t stm32f411

For a clean build:

./make.ps1 -t stm32f411 -c

To build in Release mode:

./make.ps1 -t stm32f411 -r

Debugging

Install OpenOCD:

sudo apt-get install openocd

On Windows, download from OpenOCD and add to PATH. Install the Cortex-Debug extension for VS Code. Reference launch.json files are found under .vscode in this repository.

Developing

Install clang-format for auto-formatting: On Windows:

python -m pip install clang-format

On Linux:

sudo apt install clang-format

In VS Code, enable Format On Save in settings.

Building

To build: On Windows, use the .ps1 script in PowerShell. On Linux, use the .sh script. Minimum parameters: ./make.ps1 -t <name of preset> Example: ./make.ps1 -t stm32f411 -c (See CMakePresets.json for available presets.)

To build a specific application: ./make.ps1 -t stm32f411 -a cli_app

For a clean build: ./make.ps1 -t <name of preset> -c

To build in Release mode: ./make.ps1 -t stm32f746 -r

Debugging

Install OpenOCD: sudo apt-get install openocd On Windows, download from OpenOCD and add to PATH. Install the Cortex-Debug extension for VS Code. Reference launch.json files are found under .vscode in this repository.

Developing

Install clang-format for auto-formatting: On Windows: python -m pip install clang-format On Linux: sudo apt install clang-format In VS Code, enable Format On Save in settings.

To run native unit tests, build for native, then cd build/native and run: ctest