modm: a barebone embedded library generator¶
modm (pronounced like dial-up "modem") 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.
- Check out our install instructions and our getting started guide.
- Feast your eyes on lots of working examples.
- Our CI checks every contribution for regressions.
- We care about testing modm.
- API reference is available here.
This project also has a technical blog to document larger design concepts.
- You found a bug? Open up an issue, we don't bite.
- You want to contribute? Read the contribution guidelines and open a pull request.
modm is optimized for the harsh requirements of the Eurobot competition, where our robots need to run reliably and completely autonomously for the game's 100 second duration. Our robots contain a lot of different microcontrollers, some without a lot of resources, so modm needs to fulfill a diverse set of objectives, like small code size with small memory consumption, predictable program flow, extreme portability.
The library source code is licensed as MPLv2 with any external source code under compatible licenses (BSD, Apache2, MIT). So feel free to fork this project and adapt it to your needs. The only thing we ask of you is to contribute your changes back so everyone can benefit.
Please clone modm recursively, you need all the submodules:
git clone --recurse-submodules https://github.com/modm-io/modm.git
- 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: Choose SCons, CMake or use your own.
- Data-driven, target-specific HAL generation using the lbuild 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 and printf interface.
- Lightweight, stackless threads and resumable functions using cooperative multitasking.
- Functional (partial) libstdc++ implementation for AVRs.
- Integration of useful third-party software: FreeRTOS, ROSserial, CMSIS-DSP.
- Useful filter, interpolation and geometric algorithms.
- Lightweight unit testing system (suitable for AVRs).
- Hundreds of tests to ensure correct functionality.
modm can generate code for 530 AVR and 1857 STM32 devices, however, there are different levels of support and testing.
|Device Family||Support||Device Family||Support||Device Family||Support|
All of these targets are compiling and booting correctly (★) and have GPIO and UART working (★★). Most targets have support for basic peripherals, like I2C, SPI and ADC (★★★) as well as complicated peripherals, like Timers, CAN and external memory (★★★★). We also use a few targets in everyday development, which are very well tested (★★★★★).
We are only a small team of developers and are limited in the amount of targets we can support and test in hardware. We have prepared, but currently not finished support for STM32F2, STM32L0 and STM32L1. Open an issue to ask if your specific target is supported out-of-the-box and what you can do if it's not.
We have out-of-box support for several development boards including documentation.
|AL-AVREB-CAN||Arduino NANO||Arduino UNO||Black Pill|
We also have a number of completely target-independent drivers for external devices connected via I2C, SPI, UART, BitBang, etc. Most of these also give you access to the entire device so you can easily configure them for you specific needs.
We have a huge number of examples which are always up-to-date and compilable as enforced by our CI.