ElecMag_Car

Overview

• STM32F103C8T6 based electromagnetic car project (dual DC motors, encoders, ultrasonic, IMU, line tracker).
• Motor control: TIM1 PWM, TIM2/TIM3 encoders, PID speed loop in Core/Src/motor.c.
• Sensors: ADC line sensors, MPU6050 gyro, HC-SR04 ultrasonic, UART VOFA debug.

Hardware Pin Highlights

• Left motor IN1/IN2: PB4/PB5 (PB4 defaults to JTAG NJTRST, requires SWJ remap and GPIO init).
• Right motor IN1/IN2: PB0/PB1.
• Encoders: TIM2 (left), TIM3 (right).
• PWM: TIM1 CH2 (left), CH1 (right).
• Ultrasonic: PC14 trigger, PC15 echo interrupt.

Build & Flash

• Toolchain: STM32CubeIDE/Make (see Debug/makefile).
• Typical steps: clean -> build -> flash (via ST-Link SWD).
• If using CLI: run make in Debug/ or IDE build target.

Runtime Notes

• Call Sensor_Init() then Motor_Init() before enabling motion control.
• Periodic tasks: Sensor_Updater(), Get_Motor_Info(), and PID_Motor_Controllers_Speed_Updater(left, right).
• VOFA debug: send debug_data via UART1 when enabled in main loop.

PB4 Checklist (common issue)

• Enable AFIO clock and remap: __HAL_RCC_AFIO_CLK_ENABLE(); __HAL_AFIO_REMAP_SWJ_NOJTAG();
• Configure PB4 as output push-pull in GPIO init.
• Ensure no external short or burnt pin; test with simple toggle.

Tuning

• PID gains (MOTOR_KP/KI/KD/DT) in motor.c.
• Speed limits: MOTOR_MAX_OUTPUT/MIN_OUTPUT and PWM clamp MOTOR_MAX_PWM/MIN_PWM (negative min required for reverse).

Folder Map

• Core/Inc: headers (motor, sensor, pid, tracker, etc.).
• Core/Src: application code (motor control, sensors, peripherals).
• Core/Startup: startup assembly.
• Debug/: build artifacts, makefiles.
• Drivers/: HAL and CMSIS sources.

Future TODO

• Add line-tracker fusion with gyro for smoother path keeping.
• Add position PID (currently commented) for precise stop.
• Document wiring diagram and power budget.

NOW STATE

• I should cancel this project by some reason
• Saddy.
• feel free to check my code.