Infantry Robot

Electrical control code for RMUL 2026

Architecture

• Application Layer: High-level task management and logic for robot subsystems.
• Controller/Interface Layer: Abstraction of control laws logic and device-specific command interfaces
• Algorithm Layer: Mathematical foundations including kinematics and state estimation.
• Device & BSP Layer: Hardware abstraction and low-level peripheral drivers.

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Project Structure

├── Application/      # Logic-level task execution (1000Hz)
│   ├── body            # Chassis control logic (body_task)
│   ├── head            # Pitch, friction wheels, and trigger logic (head_task)
│   ├── neck            # Yaw-axis gimbal control (neck_task)
│   └── controller      # Abstracted set_target/velocity functions
├── Algorithm/        # Core mathematical implementations
│   ├── kinematics      # Omni-directional chassis kinematics
│   ├── mahony          # Mahony filter for sensor fusion
│   ├── quaternion      # Quaternion-based calculation
│   └── pid             # PID control algorithms
├── Device/           # Hardware component drivers
│   ├── motor           # motor can communication & encapsulation
│   ├── imu             # IMU data acquisition
│   └── dbus            # Remote control receiver (DBUS) protocol
└── BSP/              # Low-level hardware abstraction
    ├── bsp_fdcan       # FDCAN configurations
    ├── bsp_spi         # SPI for IMU communication
    ├── bsp_tim         # Timers for high-frequency control loops
    ├── bsp_usart       # Serial communication
    └── bsp_gpio        # GPIO configurations

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Control Loops

The system utilizes hardware timer interrupts to ensure strict execution frequency for control stability:

Task	Frequency	Timer	Functionality
imu_update()	1000 Hz	htim4	attitude sampling & Mahony filtering, in Device/Src/imu.c
neck_task()	1000 Hz	htim5	yaw gimbal control, in Application/Src/neck.c
head_task()	1000 Hz	htim12	pitch gimbal, trigger, and friction wheel, in Application/Src/head.c
body_task()	125 Hz	htim15	chassis control, in Application/Src/body.c

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Build & Requirements

• Toolchain: Arm GNU Toolchain (GCC)

• Build System: Makefile

• Hardware: STM32H723VGT6 (damiao-mc02)

• Framework: STM32Cube HAL Package