modm

modm is a toolbox for building custom C++17 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.

Features

• Efficient and fast object-oriented C++17 API.
• Support for hundreds of AVR and ARM Cortex-M microcontrollers from Atmel and ST.
• Build system agnostic: We use SCons by default, but you don’t have to.
• Data-driven HAL generation using the library-builder engine.
• No memory allocations in HAL with very low overall RAM consumption.
• Highly-configurable modules with sensible defaults and lots of documentation.
• Cross platform peripheral interfaces incl. bit banging: GPIO and GPIO expanders. ADC and Analog. UART, I2C, SPI, CAN.
• Interfaces and drivers for many external I2C and SPI sensors and devices.
• Debug/logging system with IOStream interface.
• Lightweight, stackless threads and resumable functions using cooperative multitasking.
• Useful filter, interpolation and geometric algorithms.
• Lightweight unit testing system (suitable for AVRs).
• Graphical user interface for small binary and color displays.
• Hundreds of tests to ensure correct functionality.

Resource

• modm-devices. Curated device data for all AVR and ARM Cortex-M devices.
• lbuild. lbuild: a generic, modular code generator in Python 3.
• aruw-mcb. ARUW’s main robot control code. Read-only mirror of https://gitlab.com/aruw/controls/aruw-mcb..
• taproot. Robot independent control/embedded systems code generation for the RoboMaster robotics competition. Read-only mirror of https://gitlab.com/aruw/controls/taproot..
• modm-template. [WIP] Template repository to use the modm library in your project.
• aruw-mcb-oss-award-wiki-2020. Houses the documentation (wiki) portion of ARUW’s 2020 RoboMaster Open Source Award.