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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.

This project also has a technical blog to document larger design concepts.

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

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: 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.

Targets

modm can generate code for 506 AVR, 163 SAM and 1959 STM32 devices, however, there are different levels of support and testing.

Device Family Support Device Family Support Device Family Support
AVR ★★★ STM32F0 ★★★★ STM32F1 ★★★★
STM32F2 ★★★★ STM32F3 ★★★★★ STM32F4 ★★★★★
STM32F7 ★★★★ STM32L1 ★★★★ STM32L4 ★★★★
STM32L4+ ★★★★ STM32G0 ★★★★ STM32G4 ★★★★
SAMD21 ★★

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.

Boards

We have out-of-box support for several development boards including documentation.

AL-AVREB-CAN Arduino NANO Arduino UNO Black Pill
Blue Pill DISCO-F051R8 DISCO-F072RB DISCO-F100RB
DISCO-F303VC DISCO-F407VG DISCO-F429ZI DISCO-F469NI
DISCO-F746NG DISCO-F769NI DISCO-L152RC DISCO-L476VG
FEATHER-M0 MEGA-2560-PRO MINI-F401 MINI-F411
NUCLEO-F031K6 NUCLEO-F042K6 NUCLEO-F103RB NUCLEO-F303K8
NUCLEO-F303RE NUCLEO-F401RE NUCLEO-F411RE NUCLEO-F429ZI
NUCLEO-F446RE NUCLEO-F746ZG NUCLEO-G071RB NUCLEO-G474RE
NUCLEO-L152RE NUCLEO-L432KC NUCLEO-L476RG OLIMEXINO-STM32
SAMD21-MINI STM32F030F4P6-DEMO

Drivers

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.

AD7280A AD7928 ADNS9800 ADS7843 AMS5915 APA102
SPI-FLASH BME280 BMP085 BNO055 CAT24AA DRV832X
DS1302 DS1631 DS18B20 EA-DOG ENCODER-OUTPUT FT245
FT6X06 GPIO-SAMPLER HCLAx HD44780 HMC58x HMC6343
HX711 I2C-EEPROM ITG3200 L3GD20 LAWICEL LIS302DL
LIS3DSH LIS3MDL LM75 LP503X LSM303A LSM6DS33
LTC2984 MAX6966 MAX7219 MCP23X17 MCP2515 NOKIA5110
NRF24 TFT-DISPLAY PAT9125EL PCA8574 PCA9535 PCA9548A
PCA9685 SIEMENS-S65 SIEMENS-S75 SK6812 SK9822 SSD1306
SX1276 TCS3414 TCS3472 TLC594X TMP102 TMP175
VL53L0 VL6180 WS2812

Examples

We have a huge number of examples which are always up-to-date and compilable as enforced by our CI.

AVR: 1-wire/ds18b20 AVR: adc/basic
AVR: adc/oversample AVR: app_can2usb
AVR: assert AVR: block_device_mirror
AVR: can/mcp2515 AVR: can/mcp2515_uart
AVR: display/dogm128/benchmark AVR: display/dogm128/caged_ball
AVR: display/dogm128/draw AVR: display/dogm128/image
AVR: display/dogm128/text AVR: display/dogm128/touch
AVR: display/dogm132 AVR: display/dogm163
AVR: display/hd44780 AVR: display/siemens_s65
AVR: flash AVR: gpio/basic
AVR: gpio/blinking AVR: gpio/button_group
AVR: logger AVR: mega_pro
AVR: ports AVR: protothread
AVR: pwm/pca9685 AVR: sab/master
AVR: sab/slave AVR: timeout
AVR: timer AVR: uart/basic
AVR: uart/extended AVR: xpcc/receiver
AVR: xpcc/sender Arduino UNO: basic/analog_read_serial
Arduino UNO: basic/blink Arduino UNO: basic/digital_read_serial
Arduino UNO: basic/read_analog_voltage Generic: blinky
Generic: i2c_multiplex Generic: resumable
Generic: ros/can_bridge Generic: ros/environment
Generic: ros/sub_pub Generic: rtc_ds1302
Linux: assert Linux: block_device/file
Linux: block_device/mirror Linux: block_device/ram
Linux: build_info Linux: can_debugger
Linux: git Linux: logger
Linux: printf Linux: serial_interface
Linux: static_serial_interface Linux: threads
NUCLEO-F031K6: blink NUCLEO-F031K6: sk6812
NUCLEO-F042K6: adc NUCLEO-F042K6: blink
NUCLEO-F042K6: lis3mdl NUCLEO-F042K6: lp503x
NUCLEO-F042K6: lsm6ds33 NUCLEO-F103RB: blink
NUCLEO-F103RB: hard_fault NUCLEO-F103RB: itm
NUCLEO-F103RB: rtos NUCLEO-F103RB: undefined_irq
NUCLEO-F303K8: blink NUCLEO-F303K8: rtos
NUCLEO-F303RE: blink NUCLEO-F303RE: itm
NUCLEO-F303RE: rtos NUCLEO-F401RE: blink
NUCLEO-F401RE: distance_vl53l0 NUCLEO-F411RE: blink
NUCLEO-F411RE: imu_bno055 NUCLEO-F411RE: radio/nrf24-basic-comm
NUCLEO-F411RE: radio/nrf24-data NUCLEO-F411RE: radio/nrf24-phy-test
NUCLEO-F411RE: radio/nrf24-scanner NUCLEO-F411RE: rtos
NUCLEO-F411RE: sx1276_rx NUCLEO-F411RE: sx1276_tx
NUCLEO-F411RE: ws2812b NUCLEO-F429ZI: blink
NUCLEO-F429ZI: cmsis_dsp/class_marks NUCLEO-F429ZI: cmsis_dsp/convolution
NUCLEO-F429ZI: cmsis_dsp/dotproduct NUCLEO-F429ZI: cmsis_dsp/fft_bin
NUCLEO-F429ZI: cmsis_dsp/fir NUCLEO-F429ZI: cmsis_dsp/graphic_equalizer
NUCLEO-F429ZI: cmsis_dsp/linear_interp NUCLEO-F429ZI: cmsis_dsp/matrix
NUCLEO-F429ZI: cmsis_dsp/signal_converge NUCLEO-F429ZI: cmsis_dsp/sin_cos
NUCLEO-F429ZI: cmsis_dsp/variance NUCLEO-F429ZI: pat9125el
NUCLEO-F429ZI: spi_flash NUCLEO-F446RE: blink
NUCLEO-F446RE: flash NUCLEO-F746ZG: blink
NUCLEO-G071RB: adc NUCLEO-G071RB: amnb
NUCLEO-G071RB: apa102 NUCLEO-G071RB: blink
NUCLEO-G071RB: custom_allocator NUCLEO-G071RB: flash
NUCLEO-G071RB: rtos NUCLEO-G474RE: blink
NUCLEO-L152RE: blink NUCLEO-L432KC: blink
NUCLEO-L432KC: comp NUCLEO-L432KC: gyroscope
NUCLEO-L432KC: pwm NUCLEO-L432KC: pwm_advanced
NUCLEO-L432KC: spi_dma NUCLEO-L432KC: uart_spi
NUCLEO-L476RG: adc NUCLEO-L476RG: blink
NUCLEO-L476RG: i2c_test OLIMEXINO-STM32: blink
SAMD: blink SAMD: interrupt
STM32F0-DISCOVERY: blink STM32F0-DISCOVERY: logger
STM32F030F4P6-DEMO-BOARD: blink STM32F072-DISCOVERY: blink
STM32F072-DISCOVERY: can STM32F072-DISCOVERY: hard_fault
STM32F072-DISCOVERY: rotation STM32F072-DISCOVERY: tmp102
STM32F072-DISCOVERY: uart STM32F072-DISCOVERY: unaligned_access
STM32F1-DISCOVERY: blink STM32F1-DISCOVERY: logger
STM32F103C8T6-Black Pill: blink STM32F103C8T6-Blue Pill: adns_9800
STM32F103C8T6-Blue Pill: blink STM32F103C8T6-Blue Pill: can
STM32F103C8T6-Blue Pill: environment STM32F103C8T6-Blue Pill: logger
STM32F103C8T6-Blue Pill: tlc594x STM32F103C8T6-Blue Pill: weight_scale_hx711
STM32F3-DISCOVERY: accelerometer STM32F3-DISCOVERY: adc/continous
STM32F3-DISCOVERY: adc/interrupt STM32F3-DISCOVERY: adc/simple
STM32F3-DISCOVERY: blink STM32F3-DISCOVERY: can
STM32F3-DISCOVERY: comp STM32F3-DISCOVERY: ft245
STM32F3-DISCOVERY: gdb STM32F3-DISCOVERY: rotation
STM32F3-DISCOVERY: timer/basic STM32F3-DISCOVERY: uart/hal
STM32F3-DISCOVERY: uart/logger STM32F4-DISCOVERY: accelerometer
STM32F4-DISCOVERY: adc/interrupt STM32F4-DISCOVERY: adc/oversample
STM32F4-DISCOVERY: adc/simple STM32F4-DISCOVERY: app_uart_sniffer
STM32F4-DISCOVERY: barometer_bmp085_bmp180 STM32F4-DISCOVERY: blink
STM32F4-DISCOVERY: can STM32F4-DISCOVERY: can2
STM32F4-DISCOVERY: colour_tcs3414 STM32F4-DISCOVERY: display/hd44780
STM32F4-DISCOVERY: display/nokia_5110 STM32F4-DISCOVERY: display/ssd1306
STM32F4-DISCOVERY: distance_vl6180 STM32F4-DISCOVERY: encoder_output
STM32F4-DISCOVERY: exti STM32F4-DISCOVERY: fpu
STM32F4-DISCOVERY: fsmc STM32F4-DISCOVERY: led_matrix_display
STM32F4-DISCOVERY: open407v-d/gui STM32F4-DISCOVERY: open407v-d/touchscreen
STM32F4-DISCOVERY: pressure_ams5915 STM32F4-DISCOVERY: protothreads
STM32F4-DISCOVERY: sab2 STM32F4-DISCOVERY: spi
STM32F4-DISCOVERY: temperature_ltc2984 STM32F4-DISCOVERY: timer
STM32F4-DISCOVERY: timer_test STM32F4-DISCOVERY: uart
STM32F4-DISCOVERY: uart_spi STM32F401CCU-MINI-F401: blink
STM32F411CEU-MINI-F411: blink STM32F429-DISCOVERY: blink
STM32F429-DISCOVERY: logger STM32F469-DISCOVERY: assert
STM32F469-DISCOVERY: blink STM32F469-DISCOVERY: can
STM32F469-DISCOVERY: display STM32F469-DISCOVERY: exceptions_rtti
STM32F469-DISCOVERY: game_of_life STM32F469-DISCOVERY: hard_fault
STM32F469-DISCOVERY: ports STM32F469-DISCOVERY: threadsafe_statics
STM32F469-DISCOVERY: tlsf-allocator STM32F469-DISCOVERY: touchscreen
STM32F746G-DISCOVERY: adc_ad7928 STM32F746G-DISCOVERY: blink
STM32F746G-DISCOVERY: rtos STM32F746G-DISCOVERY: tmp102
STM32F769I-DISCOVERY: blink STM32L1-DISCOVERY: blink
STM32L476-DISCOVERY: blink Windows: build_info