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modm: a barebone embedded library generator

modm (pronounced like dial-up "modem") is a toolbox for building custom C++20 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 forum for discussions and 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 --jobs 8 https://github.com/modm-io/modm.git

Features

  • Efficient and fast object-oriented C++20 API.
  • Support for hundreds of AVR and ARM Cortex-M microcontrollers from Atmel and ST.
  • Build system agnostic: Choose SCons, CMake, Makefile 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, External Interrupt and IO expanders.
    • ADC, DAC and Comparators.
    • UART, I2C, SPI, CAN and Ethernet.
  • 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.
  • Useful filter, interpolation and geometric algorithms.
  • Lightweight unit testing system (suitable for AVRs).
  • Hundreds of tests to ensure correct functionality.
  • Integration of useful third-party software:

Microcontrollers

modm can create a HAL for 3300 devices of these vendors:

  • STMicroelectronics STM32: 2726 devices.
  • Microchip SAM: 186 devices.
  • Microchip AVR: 388 devices.

Here is a table with all device families and the peripheral drivers they support:

  • ✅ Implemented as a software driver in modm.
  • ○ Available in hardware but missing a software driver in modm.
  • ✕ Unavailable in hardware or device with that peripheral not supported by modm.

Note that this is a summary overview and your specific device may not have all the peripherals in this table. Please discover modm's peripheral drivers for your specific device.

STM32 SAM AT
Peripheral F0 F1 F2 F3 F4 F7 G0 G4 H7 L0 L1 L4 L5 D21 G55 V70 90 Mega Tiny
ADC
CAN
Comparator
DAC
DMA
Ethernet
External Interrupt
External Memory
GPIO
I2C
Internal Flash
Random Generator
SPI
System Clock
Timer
UART
Unique ID
USB

We are only a small team of developers and are limited in the amount of devices we can support and test in hardware. Open an issue to ask if your specific device is supported out-of-the-box and what you can do if it is not.

Boards

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

AL-AVREB-CAN Arduino NANO Arduino UNO Black Pill F103
Black Pill F401 Black Pill F411 Blue Pill F103 DEVEBOX-STM32F4XX
DEVEBOX-STM32H750VB 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 NUCLEO-F031K6 NUCLEO-F042K6
NUCLEO-F072RB NUCLEO-F091RC NUCLEO-F103RB NUCLEO-F303K8
NUCLEO-F303RE NUCLEO-F334R8 NUCLEO-F401RE NUCLEO-F411RE
NUCLEO-F429ZI NUCLEO-F439ZI NUCLEO-F446RE NUCLEO-F446ZE
NUCLEO-F746ZG NUCLEO-F767ZI NUCLEO-G071RB NUCLEO-G431KB
NUCLEO-G431RB NUCLEO-G474RE NUCLEO-H723ZG NUCLEO-H743ZI
NUCLEO-L031K6 NUCLEO-L053R8 NUCLEO-L152RE NUCLEO-L432KC
NUCLEO-L452RE NUCLEO-L476RG NUCLEO-L496ZG-P NUCLEO-L552ZE-Q
OLIMEXINO-STM32 Raspberry Pi SAMD21-MINI SAMG55-XPLAINED-PRO
STM32-F4VE STM32F030-DEMO Smart Response XE

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 ADS816X AMS5915
APA102 SPI-FLASH BME280 BMP085 BNO055 CAT24AA
DRV832X DS1302 DS1631 DS18B20 EA-DOG ENCODER-INPUT
ENCODER-INPUT-BITBANG ENCODER-OUTPUT-BITBANG FT245 FT6X06 GPIO-SAMPLER HCLAx
HD44780 HMC58x HMC6343 HX711 I2C-EEPROM ILI9341
IS31FL3733 ITG3200 L3GD20 LAN8720A LAWICEL LIS302DL
LIS3DSH LIS3MDL LM75 LP503X LSM303A LSM6DS33
LTC2984 MAX6966 MAX7219 MCP23X17 MCP2515 MCP7941X
MMC5603 NOKIA5110 NRF24 TFT-DISPLAY PAT9125EL PCA8574
PCA9535 PCA9548A PCA9685 SH1106 SIEMENS-S65 SIEMENS-S75
SK6812 SK9822 SSD1306 ST7586S STTS22H STUSB4500
SX1276 TCS3414 TCS3472 TLC594X TMP102 TMP12X
TMP175 TOUCH2046 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: fiber 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 NANO: color Arduino NANO: encoder_input_bitbang
Arduino UNO: basic/analog_read_serial Arduino UNO: basic/blink
Arduino UNO: basic/digital_read_serial Arduino UNO: basic/read_analog_voltage
Black Pill F103: blink Black Pill F401: blink
Black Pill F411: blink Black Pill F411: usbfatfs
Blue Pill F103: adns_9800 Blue Pill F103: blink
Blue Pill F103: can Blue Pill F103: encoder_input
Blue Pill F103: encoder_input_bitbang Blue Pill F103: environment
Blue Pill F103: flash Blue Pill F103: graphics
Blue Pill F103: itm Blue Pill F103: logger
Blue Pill F103: rtt Blue Pill F103: tlc594x
Blue Pill F103: weight_scale_hx711 Generic: blinky
Generic: delay Generic: etl
Generic: fiber 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: etl Linux: fiber
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-F042K6: spi_dma
NUCLEO-F042K6: tmp12x NUCLEO-F042K6: vector_table_ram
NUCLEO-F072RB: blink NUCLEO-F091RC: blink
NUCLEO-F103RB: blink NUCLEO-F103RB: hard_fault
NUCLEO-F103RB: itm NUCLEO-F103RB: rtos
NUCLEO-F103RB: stts22h NUCLEO-F103RB: undefined_irq
NUCLEO-F303K8: blink NUCLEO-F303K8: rtos
NUCLEO-F303RE: blink NUCLEO-F303RE: itm
NUCLEO-F303RE: rtos NUCLEO-F303RE: spi_dma
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: adc_ads816x
NUCLEO-F429ZI: blink NUCLEO-F429ZI: cmsis_dsp/bayes
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/svm NUCLEO-F429ZI: cmsis_dsp/variance
NUCLEO-F429ZI: ethernet NUCLEO-F429ZI: freertos_static
NUCLEO-F429ZI: pat9125el NUCLEO-F429ZI: rtc_mcp7941x
NUCLEO-F429ZI: spi_flash NUCLEO-F439ZI: blink
NUCLEO-F439ZI: spi_dma NUCLEO-F446RE: blink
NUCLEO-F446RE: color NUCLEO-F446RE: flash
NUCLEO-F446ZE: blink NUCLEO-F446ZE: dac_basic
NUCLEO-F446ZE: dac_dma NUCLEO-F446ZE: usbserial
NUCLEO-F746ZG: blink NUCLEO-F767ZI: blink
NUCLEO-F767ZI: ethernet NUCLEO-F767ZI: freertos_blink
NUCLEO-F767ZI: spi_dma 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-G431RB: blink NUCLEO-G474RE: adc_basic
NUCLEO-G474RE: blink NUCLEO-G474RE: can
NUCLEO-G474RE: dac_basic NUCLEO-G474RE: dac_dma
NUCLEO-H723ZG: blink NUCLEO-H723ZG: dac_dma
NUCLEO-H743ZI: blink NUCLEO-L031K6: blink
NUCLEO-L031K6: vector_table_ram NUCLEO-L053R8: 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-L452RE: blink NUCLEO-L452RE: graphics_touch
NUCLEO-L452RE: lvgl NUCLEO-L476RG: adc
NUCLEO-L476RG: blink NUCLEO-L476RG: dac_dma
NUCLEO-L476RG: i2c_test NUCLEO-L496ZG-P: blink
NUCLEO-L552ZE-Q: adc_basic NUCLEO-L552ZE-Q: blink
NUCLEO-L552ZE-Q: dac_dma NUCLEO-L552ZE-Q: freertos_blink
OLIMEXINO-STM32: blink RPI: blinky
SAMD: blink SAMD: interrupt
SAMD: usbserial SAMG55-XPLAINED-PRO: adc-uart
SAMG55-XPLAINED-PRO: blink SAMG55-XPLAINED-PRO: spi-loopback
SAMG55-XPLAINED-PRO: usbserial SAMV: blink
STM32-F4VE: flash STM32-F4VE: gui
STM32F0-DISCOVERY: blink STM32F0-DISCOVERY: logger
STM32F030F4P6-DEMO-BOARD: adc STM32F030F4P6-DEMO-BOARD: blink
STM32F072-DISCOVERY: blink STM32F072-DISCOVERY: can
STM32F072-DISCOVERY: hard_fault STM32F072-DISCOVERY: rotation
STM32F072-DISCOVERY: stusb4500 STM32F072-DISCOVERY: tmp102
STM32F072-DISCOVERY: uart STM32F072-DISCOVERY: unaligned_access
STM32F1-DISCOVERY: blink STM32F1-DISCOVERY: logger
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: rtt 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 STM32F407VET6-DEVEBOX: blinky
STM32F407VET6-DEVEBOX: flash STM32F407VET6-DEVEBOX: logger
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: lvgl
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 STM32F769I-DISCOVERY: dac_dma
STM32H750VBT6-DEVEBOX: blink STM32L1-DISCOVERY: blink
STM32L476-DISCOVERY: blink Smart Response XE: blink
Smart Response XE: display