RoboMaster Control

Firmware and tooling for the NYUSH Robotics Club RoboMaster C Board (STM32F4).

• Quick start: see the Setup Guide
• Toolchain: CMake + Ninja, ARM GNU Toolchain, STM32CubeProgrammer
• Target: STM32F407

Documentation

• Setup Guide - Getting started with development environment setup
• Architecture Overview - Three-layer architecture (application, module, hardware)
• Publish-Subscribe System - Message center and event-driven communication
• Vision Protocol - Seasky protocol for vision system communication
• CAN Communication - CAN bus protocol and motor communication

Repository layout

• Inc/, Src/ — application sources and headers
• Drivers/, Middlewares/ — vendor libraries (STM32 HAL, USB device)
• cmake/, CMakeLists.txt — CMake configuration
• Debug/, build/ — build outputs (generated)
• docs/ — guides and reference

Build & flash (summary)

Build

• Use CMake Tools in VS Code (see Setup Guide Step 5)
• Or use VSCode tasks: Ctrl+Shift+B / Cmd+Shift+B

Flash

Two methods available:

1. STM32CubeProgrammer (GUI method)

   • Use STM32CubeProgrammer via USB (see Setup Guide Step 6)

2. VSCode Tasks (command-line method)

   • flash: dfu-util - Flash via USB using DFU mode (default build task)
   • flash: openocd (stlink) - Flash using ST-Link debugger
   • See Setup Guide Step 7 for detailed instructions