McMaster Exoskeleton - Embedded Code

Embedded firmware for the McMaster Exoskeleton project. This repository contains hardware APIs and test projects for the sensors and motors used in the exoskeleton system, targeting STM32 Nucleo-F446RE development boards.

Getting Started

All active test projects live under the stm32-tests/ folder. Each project is a standalone STM32CubeIDE project that can be opened, built, and flashed independently. Every project includes:

• A docs/ folder with API reference and testing instructions
• A scripts/ folder with Python scripts for UART-based testing from your computer

Pick the project you need below and follow its testing instructions to get up and running.

Project Structure

exoskeleton-embedded/
├── stm32-tests/
│   ├── sensor-testing/          <-- IMU (LSM6DS3TR-C) test project
│   │   ├── docs/
│   │   │   ├── lsm6ds3tr-api.md         # IMU driver API reference
│   │   │   └── testing-instructions.md  # How to set up and test the IMU
│   │   ├── scripts/
│   │   │   └── imu_uart_test.py         # Python script for IMU testing over UART
│   │   └── Core/                        # STM32CubeIDE source (firmware)
│   │
│   └── motor-api-tests/         <-- Motor (AK70-9) test project
│       ├── docs/
│       │   ├── ak70-9-api.md            # Motor CAN API reference
│       │   └── testing-instructions.md  # How to set up and test the motor
│       ├── scripts/
│       │   └── motor_test.py            # Python script for motor testing over UART
│       └── Core/                        # STM32CubeIDE source (firmware)
│
├── CONTRIBUTING.md              # Contribution guidelines and coding standards
└── README.md                    # This file

Active Projects

sensor-testing -- IMU Testing

Tests the LSM6DS3TR-C 6-axis IMU (accelerometer + gyroscope) over I2C. The Nucleo board reads sensor data continuously and exposes it over UART so you can query values from your computer using the Python script.

Quick start:

1. Open stm32-tests/sensor-testing in STM32CubeIDE and flash the firmware.
2. Run python scripts/imu_uart_test.py to send commands and read sensor data.
3. See docs/testing-instructions.md for full setup and wiring details.
4. See docs/lsm6ds3tr-api.md for the driver API reference.

motor-api-tests -- Motor Testing

Tests the CubeMars AK70-9 brushless motor over CAN bus. The Nucleo board sends motor commands and receives motor feedback, with a UART telemetry interface for monitoring from your computer using the Python script.

Quick start:

1. Open stm32-tests/motor-api-tests in STM32CubeIDE and flash the firmware.
2. Run python scripts/motor_test.py to send commands and read motor telemetry.
3. See docs/testing-instructions.md for full setup, wiring, and CAN transceiver details.
4. See docs/ak70-9-api.md for the motor CAN API reference.

Prerequisites

• STM32CubeIDE -- for building and flashing firmware
• Python 3.6+ with pyserial (pip install pyserial) -- for running test scripts
• Nucleo-F446RE board connected via USB

Contributing

Please see CONTRIBUTING.md for guidelines on how to contribute to this project.