Koduino Documentation

The repository associated with this library is at https://github.com/avikde/koduino.

This is a library of code for boards developed using the STM32 F3/F4 series of microcontrollers, chosen for their FPU's and friendly built-in bootloaders. The microcontrollers currently being used are (see porting guide for details) F301, F302, F303, F373, F405, F446.

The API functions here are in general optimized for speed and concurrency, at the expense of being slightly less fool-proof than Arduino (e.g. see pin configuration, PWM output and input).

Quick links

• Installation & Setup Guide
• Porting to new chips - Not completed yet

API Reference

Core functionality

• Pin configuration — pinMode, ...
• Digital I/O — digitalWrite, digitalRead, ...
• Reading analog signals — analogRead, ...
• PWM output and input — analogWrite, pulseIn, ...
• Keeping time — millis, micros ...
• Running code with precise timing — attachTimerInterrupt, ...
• External (or pin-change) interrupts — attachInterrupt, ...
• Printing, streaming and strings — Serial1 <<, ...

Communication

• Serial / USART — FTDI (USB/Serial), XBee, ...
• Serial with DMA — for when packet sizes are known apriori
• SPI — MPU-6000, ...
• Wire / I2C / SMBus — Nunchuck, MPU-6050, ...
• Dxl real-time bus (TODO)

Peripheral device drivers

• Reading a quadrature encoder
• Data logging: OpenLog driver — on Sparkfun OpenLog, MBLC, or Mainboard v1
• IMU drivers and orientation filter — MPU6000 drivers, complementary filter, EKF
• Vectornav IMU driver
• Data logging: FatLog over SDIO (TODO) — on Mainboard v2 only
• Wii Nunchuck (TODO)

Libraries

• Storing data in non-volatile memory (EEPROM)
• Basic and advanced Math — also, the Eigen libraries exist
• Motor controller library with multi-motor coordination
• Real-time clock (TODO) — on Mainboard v2 only
• Behaviors base class, clocked gaits (TODO)