PWM Using Timers The STM32F103C8T6 has four hardware timers that can be used to generate PWM signals to drive servos. Ninjaskit has two classes (Pulse1 and Pulse2) that wrap two of the hardware timers to produce PWM on up to four digital pins each. For Pulse1 these pins are PA0,… Continue Reading Driving Servos With STM32F103C8T6

Ninjaskit – A STM32F103C8T6 Library Ninjaskit is a high level C++ API for STM32F103C8T6 micro-controllers. GitHub Page The STM32F103C8T6 micro-controller has 64K of FLASH, 20K of RAM and ticks at up to 72Mhz. It’s quite small ( 7x7mm ), comes with a built in boot loader and is very easy… Continue Reading Ninjaskit – STM32F103C8T6 Library

When confronted by large, repetitive and tedious coding tasks it’s often better to actually write code generators. I’ve written several Python scripts for code generation for different projects and every time it has been totally worthwhile. The entire communications system used by Firetail UAV is automatically generated. Every single piece… Continue Reading Python Code Generators

The StaticString library is pretty easy to use, however there’s a couple of little gotchas and interesting points. The first is copying! Copying StaticStrings C-strings are just pointers to character arrays. Creating a new char pointer to the string, of course, will only ‘shallow-copy’.

Modifying c_s2 will also modify… Continue Reading StaticString – Beyond Basics

So you want to create a remote controlled device using an Arduino? To put an Arduino between your RC receiver and servos, you’re going to need to know how to read PWM signals. Getting your Arduino to read signals from an RC receiver is an easy task if you don’t… Continue Reading Reading PWM Signals From An RC Receiver With Arduino

Using the C standard libraries for string processing is a terrible option when it comes to programming micro-controllers. The standard C string functions can be unsafe and most C string functions are prohibited by high integrity coding standards. They will also bloat compiled binaries by up to 30Kb. The Embedded… Continue Reading Embedded String Programming

EvoPid EvoPid is an auto-tuning PID controller from ETK. It uses evolutionary algorithms to search for optimal PID gains. There are a number of ways to tune a PID controller. PID gains can be calculated using hard rules and previously gathered data. Methods that use this approach include the Zigler… Continue Reading EvoPid – Autotuning PID Controller