modm API documentation for STM32F437ZIT7
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modm (pronounced like dial-up "modem") is a toolbox for building custom C++20 libraries tailored to your embedded device. modm generates startup code, HALs and their implementations, communication protocols, drivers for external devices, BSPs, etc… in a modular, customizable process that you can fine-tune to your needs.
This project also has a technical blog to document larger design concepts.
modm is optimized for the harsh requirements of the Eurobot competition, where our robots need to run reliably and completely autonomously for the game's 100 second duration. Our robots contain a lot of different microcontrollers, some without a lot of resources, so modm needs to fulfill a diverse set of objectives, like small code size with small memory consumption, predictable program flow, extreme portability.
The library source code is licensed as MPLv2 with any external source code under compatible licenses (BSD, Apache2, MIT). So feel free to fork this project and adapt it to your needs. The only thing we ask of you is to contribute your changes back so everyone can benefit.
Please clone modm recursively, you need all the submodules:
modm can generate code for 506 AVR, 163SAM and 2010 STM32 devices, however, there are different levels of support and testing.
Device Family | Support | Device Family | Support | Device Family | Support |
---|---|---|---|---|---|
AVR | ★★★ | STM32F0 | ★★★★ | STM32F1 | ★★★★ |
STM32F2 | ★★★★ | STM32F3 | ★★★★★ | STM32F4 | ★★★★★ |
STM32F7 | ★★★★ | STM32L1 | ★★★★ | STM32L4 | ★★★★ |
STM32L4+ | ★★★★ | STM32G0 | ★★★★ | STM32G4 | ★★★★ |
SAMD21 | ★★ | Raspberry Pi | ★ |
All of these targets are compiling and booting correctly (★) and have GPIO and UART working (★★). Most targets have support for basic peripherals, like I2C, SPI and ADC (★★★) as well as complicated peripherals, like Timers, CAN and external memory (★★★★). We also use a few targets in everyday development, which are very well tested (★★★★★).
We are only a small team of developers and are limited in the amount of targets we can support and test in hardware. We have prepared, but currently not finished support for STM32F2, STM32L0 and STM32L1. Open an issue to ask if your specific target is supported out-of-the-box and what you can do if it's not.
We have out-of-box support for several development boards including documentation.
AL-AVREB-CAN | Arduino NANO | Arduino UNO | Black Pill |
Blue Pill | DEVEBOX-STM32F4XX | DISCO-F051R8 | DISCO-F072RB |
DISCO-F100RB | DISCO-F303VC | DISCO-F407VG | DISCO-F429ZI |
DISCO-F469NI | DISCO-F746NG | DISCO-F769NI | DISCO-L152RC |
DISCO-L476VG | FEATHER-M0 | MEGA-2560-PRO | MINI-F401 |
MINI-F411 | NUCLEO-F031K6 | NUCLEO-F042K6 | NUCLEO-F103RB |
NUCLEO-F303K8 | NUCLEO-F303RE | NUCLEO-F334R8 | NUCLEO-F401RE |
NUCLEO-F411RE | NUCLEO-F429ZI | NUCLEO-F446RE | NUCLEO-F446ZE |
NUCLEO-F746ZG | NUCLEO-G071RB | NUCLEO-G431KB | NUCLEO-G431RB |
NUCLEO-G474RE | NUCLEO-L152RE | NUCLEO-L432KC | NUCLEO-L476RG |
OLIMEXINO-STM32 | RASPBERRYPI | SAMD21-MINI | STM32-F4VE |
STM32F030F4P6-DEMO |
We also have a number of completely target-independent drivers for external devices connected via I2C, SPI, UART, BitBang, etc. Most of these also give you access to the entire device so you can easily configure them for you specific needs.
AD7280A | AD7928 | ADNS9800 | ADS7843 | AMS5915 | APA102 |
SPI-FLASH | BME280 | BMP085 | BNO055 | CAT24AA | DRV832X |
DS1302 | DS1631 | DS18B20 | EA-DOG | ENCODER-OUTPUT | FT245 |
FT6X06 | GPIO-SAMPLER | HCLAx | HD44780 | HMC58x | HMC6343 |
HX711 | I2C-EEPROM | ILI9341 | IS31FL3733 | ITG3200 | L3GD20 |
LAWICEL | LIS302DL | LIS3DSH | LIS3MDL | LM75 | LP503X |
LSM303A | LSM6DS33 | LTC2984 | MAX6966 | MAX7219 | MCP23X17 |
MCP2515 | NOKIA5110 | NRF24 | TFT-DISPLAY | PAT9125EL | PCA8574 |
PCA9535 | PCA9548A | PCA9685 | SIEMENS-S65 | SIEMENS-S75 | SK6812 |
SK9822 | SSD1306 | SX1276 | TCS3414 | TCS3472 | TLC594X |
TMP102 | TMP175 | VL53L0 | VL6180 | WS2812 |
Please see our examples for a complete list of tested targets and drivers.
The easiest way for you and the best way for us to see if something is unclear or missing, is if you use the library and give us some feedback by filing a bug report or if you have a fix already, opening a pull request.
See CONTRIBUTING.md for our contribution guidelines.
The modm project is maintained by Niklas Hauser (@salkinium) with significant contributions from Sascha Schade (@strongly-typed), Fabian Greif (@dergraaf), Kevin Läufer (@ekiwi), Martin Rosekeit (@thundernail), Daniel Krebs (@daniel-k), Georgi Grinshpun (@georgi-g) and 33more contributors.