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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 2010 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 ★★ Raspberry Pi

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 DEVEBOX-STM32F4XX 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-F334R8 NUCLEO-F401RE
NUCLEO-F411RE NUCLEO-F429ZI NUCLEO-F446RE NUCLEO-F746ZG
NUCLEO-G071RB NUCLEO-G431KB NUCLEO-G474RE NUCLEO-L152RE
NUCLEO-L432KC NUCLEO-L476RG OLIMEXINO-STM32 RASPBERRYPI
SAMD21-MINI STM32-F4VE 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 ILI9341 IS31FL3733 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
Generic: usb 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-F334R8: blink 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: freertos_plus_tcp
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: matrix
NUCLEO-G071RB: rtos NUCLEO-G431KB: blink
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 RPI: blinky
SAMD: blink SAMD: interrupt
SAMD: usbserial STM32-F4VE: flash
STM32-F4VE: gui 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: graphics 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 STM32F3-DISCOVERY: usb_dfu
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 STM32F407VET6-DEVEBOX: blinky
STM32F407VET6-DEVEBOX: flash STM32F407VET6-DEVEBOX: logger
STM32F411CEU-MINI-F411: blink STM32F411CEU-MINI-F411: usbfatfs
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